Cascaded fast terminal sliding mode control for UAV electric braking system

The anti-skid braking system of unmanned aerial vehicle has the characteristics of high-order nonlinearity, strong coupling, and time-varying parameters, which will seriously affect the taxiing performance of the unmanned aerial vehicle. This paper proposed a cascaded fast terminal sliding mode control method for unmanned aerial vehicle electric braking system, which can accurately track the optimal slip rate and ensure the stability of the braking system. First, the electric braking system model of unmanned aerial vehicle is established, which gets rid of the reliance on the ground binding coefficient fitting formulas. Second, combined with the concept of the inversion control, the cascaded fast terminal sliding mode controller is designed to achieve the accurate tracking of the slip rate and the reference braking force. The stability of the controller is proved by the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by simulation results.