Hybrid Terminal Sliding Mode Control and quadrotor's vision based ground object tracking

Abstract

In this paper, we presents a systematic approach to the vision based ground object tracking problem of a low cost AR.Drone quadrotor, using Hybrid Terminal Sliding Mode Controller (HTSM), based on nonsingular terminal sliding mode (NTSM) and higher order sliding mode (HOSM). In this approach, NTSM manifold is used to provide fast convergence and better tracking precision while HOSM control law is utilized to eliminate chattering phenomenon. The Experimental results demonstrate that the proposed HTSM approach outperforms conventional PD and sliding mode tracking controllers in terms of response speed, tracking precision and robustness.