Fast non-singular terminal sliding mode trajectory tracking control for tilt-rotor eVTOL
XU Meng
XU Xuan
GAO Bing
Abstract：Aiming at the nonlinear,multivariable,strongly coupled and multi-source interference dynamics character-istics of tilt-rotor electric vertical take-off and landing vehicle(eVTOL),this paper proposes a fast terminal sliding mode control algorithm based on fast convergence law.Firstly,based on the established six-degree-of-freedom nonlinear model,the actual control quantities are transformed into pseudo-control variables for each control channel,and the flight control is decoupled through the pseudo-control variables.Secondly,the fast terminal sliding mode surface is constructed,the equivalent control part in the controller is designed to achieve the fast convergence of the system state tracking error in a finite period of time,and a new type of successive convergence law is designed based on the fal nonlinear function to further reduce the chatter.Then an exponentially convergent disturbance observer is designed to compensate for the pos-sible disturbances of the system.Finally,the simulation results show that the proposed control algorithm shows superior trajectory tracking and anti-disturbance capabilities in the face of complex disturbances.
Keywords：tilt-rotor eVTOLsliding mode controlfast reaching lawtrajectory trackingnonlinear control systemsdisturbance observer
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：9( 2010-2018 )