Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="3">Control strategy</td><td class="align_center" colspan="4">Performance index</td></tr><tr class="thead"><td class="align_center" colspan="4">IADU</td></tr><tr class="thead"><td class="align_center"><span style="width: 12.1655ptpx;"><svg height="9.34337pt" id="M468" style="vertical-align:-3.382461pt" version="1.1" viewbox="-0.0498162 -5.96091 12.1655 9.34337" width="12.1655pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"><path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z"></path></g></svg></span></td><td class="align_center"><span style="width: 14.5769ptpx;"><svg height="9.14241pt" id="M469" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 14.5769 9.14241" width="14.5769pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 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xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"><path d="M482 498C482 606 448 710 328 710C138 710 24 416 24 218C24 99 58 -12 184 -12C373 -12 482 294 482 498ZM395 521C395 483 391 449 383 395H128C158 537 226 671 312 671C388 671 395 566 395 521ZM375 342C348 190 284 25 192 25C128 25 109 116 109 199C109 243 112 292 121 342H375Z"></path></g></svg></span></td><td class="align_center"><span style="width: 13.6817ptpx;"><svg height="11.4899pt" id="M471" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 13.6817 11.4899" width="13.6817pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.929,3.132)"><path d="M659 416L649 451C600 438 564 414 546 396C527 377 518 354 506 308C495 265 474 200 456 152C437 102 400 45 326 34L424 510L415 514L351 494L266 44C213 55 182 94 182 174C182 200 187 243 191 277C194 304 196 331 196 357C196 415 178 451 138 451C108 451 66 431 24 386L32 355C49 370 66 377 81 377C91 377 110 370 110 328C110 300 107 269 104 240C101 214 99 188 99 162C99 37 166 -5 257 -13L220 -202C215 -228 229 -251 236 -257L274 -218L318 -11C349 -4 378 8 400 21C444 48 489 89 518 157L586 327C601 369 619 393 659 416Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">FCS 3 [<a href="/journals/ijae/2021/5522379/#B29" target="_blank">29</a>]</td><td class="align_center">0.108</td><td class="align_center">0.0805</td><td class="align_center">0.122</td><td class="align_center">0.996</td></tr><tr><td class="align_left">FCS 2 [<a href="/journals/ijae/2021/5522379/#B53" target="_blank">53</a>]</td><td class="align_center">0.037</td><td class="align_center">0.010</td><td class="align_center">0.031</td><td class="align_center">0.03</td></tr><tr><td class="align_left">FCS 4 (proposed)</td><td class="align_center">0.029</td><td class="align_center">0.006</td><td class="align_center">0.010</td><td class="align_center">0.007</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>IADU performance index for chattering analysis.</div>

International Journal of Aerospace Engineering

tab4

Table 4

Table 4: Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment 

Table 4 | Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment 