基于非奇异Terminal滑模方法的四旋翼无人机姿态控制

In this paper, an attitude controller for quadrotor UAV is designed based on terminal sliding mode control method to ensure a rapid orientation tracking. Due to the existence of singularities when using the Euler angle representation, the attitude is represented by unit-quaternions to avoid the singularities. A nonlinear function is introduced to design a terminal sliding mode surface, so that the tracking error could converge to zero in finite time. Based on lyapunov theory, the stability of the closed-loop system is proved, and the convergence time is given. Simulation results show the effectiveness of the proposed control scheme.