Research on Control of Coaxial Dual-rotor Unmanned Aerial Vehicle Based on Improved Reaching Law

Authors

• Xinhang Chen, Key Laboratory of Reliability Technology Research for Electromechanical Products, Zhejiang Sci-Tech University, Hangzhou 310018, China
• Xiaodong Ling, Key Laboratory of Reliability Technology Research for Electromechanical Products, Zhejiang Sci-Tech University, Hangzhou 310018, China
• Chengchang Lang, Key Laboratory of Reliability Technology Research for Electromechanical Products, Zhejiang Sci-Tech University, Hangzhou 310018, China
• Shijun Zheng, Key Laboratory of Reliability Technology Research for Electromechanical Products, Zhejiang Sci-Tech University, Hangzhou 310018, China
• Yiqi Tang, Key Laboratory of Reliability Technology Research for Electromechanical Products, Zhejiang Sci-Tech University, Hangzhou 310018, China

Abstract

Abstract: To address the issues of significant chattering, slow convergence speed, and large overshoot in the control system of a coaxial dual-rotor unmanned aerial vehicle, a control method based on an improved double-power and hyperbolic function integral sliding mode reaching law was proposed. A novel reaching law was designed to achieve fast convergence when the system state is far from the sliding surface and smooth transition when approaching the sliding surface, thereby enhancing the overall convergence speed of the system and ensuring that the system reaches the sliding surface within a finite time. The saturation characteristic of the hyperbolic function was utilized to constrain the amplitude of the control signal and suppress the chattering phenomenon, and an integral term was introduced to eliminate steady-state errors and enhance the anti-interference and robustness of the system. The results show that compared with traditional sliding mode control and integral sliding mode control, the proposed algorithm exhibits superior performance in terms of chattering intensity, response speed, and overshoot, improving the dynamic quality and robustness of the coaxial dual-rotor unmanned aerial vehicle control system.

Recommended Citation

Chen, Xinhang; Ling, Xiaodong; Lang, Chengchang; Zheng, Shijun; and Tang, Yiqi (2026) "Research on Control of Coaxial Dual-rotor Unmanned Aerial Vehicle Based on Improved Reaching Law," Journal of System Simulation: Vol. 38: Iss. 4, Article 21.
DOI: 10.16182/j.issn1004731x.joss.24-1121
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss4/21

First Page

1119

Last Page

1128

CLC

TP391.9

Recommended Citation

Chen Xinhang, Ling Xiaodong, Lang Chengchang, et al. Research on Control of Coaxial Dual-rotor Unmanned Aerial Vehicle Based on Improved Reaching Law[J]. Journal of System Simulation, 2026, 38(4): 1119-1128.

Corresponding Author

Ling Xiaodong

DOI

10.16182/j.issn1004731x.joss.24-1121