This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

中文翻译：

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扰动四旋翼无人机最优新型滑模控制器与改进超扭曲算法相结合

本文研究了一种新颖的改进型超扭曲快速非线性滑模控制器（MSTFNSMC）的设计，该控制器可在时变扰动下稳定四旋翼系统。建议的控制策略基于具有快速非线性滑动表面的改进型超扭曲控制器，以提高跟踪性能。该论文提出了一种内置于MATLAB / Simulink中的简单优化工具，可以对建议的控制器参数进行调整。通过将非线性滑动表面用于旋转和平移子系统，可以建立状态变量的快速收敛。改进的超扭控制器的开发目的是抑制颤动的影响，抑制干扰并确保抵抗外部干扰影响的鲁棒性。利用李雅普诺夫理论证明了所提出控制器（MSTFNSMC）的稳定性。