NONSINGULAR TERMINAL SLIDING MODE CONTROL FOR OCTOROTOR

This paper presents robust nonlinear control law for an Octorotor UAV using nonsingular terminal sliding mode control. Nonsingular sliding mode has all the terminal sliding mode control features except the singularity problem. In other words, it can be proved that the system converge to equilibrium point in finite time without any singularity problems that can modify the controller input. Finally this controller will be applied to an octorotor UAV and it will be shown what difference it has with other robust sliding mode methods

کلیدواژه ها:

terminal sliding mode control ، nonsingular sliding mode ، octorotor UAV ، robust control