On novel trajectory tracking control of quadrotor UAV: A finite-time guaranteed performance approach

被引：10

作者：

Cao, Chengyu ^{[1
]}

Wei, Caisheng ^{[1
]}

Liao, Yuxin ^{[1
]}

Zhang, Yechen ^{[2
]}

Li, Jun ^{[3
]}

机构：

[1] Cent South Univ, Sch Automat, Changsha 410083, Peoples R China

[2] Sci & Technol Space Phys Lab, Beijing 100076, Peoples R China

[3] Cent South Univ, Res Inst Aerosp Technol, Changsha 410083, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2022年 / 359卷 / 16期

基金：

中国国家自然科学基金;

关键词：

ADAPTIVE NEURAL-CONTROL; SLIDING MODE CONTROL; NONLINEAR-SYSTEMS; DYNAMIC SURFACE; CONTROL DESIGN; DISTURBANCE; STABILITY;

D O I：

10.1016/j.jfranklin.2022.09.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work, aiming at the trajectory tracking control of the quadrotor UAV subject to external disturbances and model uncertainties, a finite-time approach with preassigned performance guaranteed is proposed. First, the control system is decoupled into translational and rotational subsystems. Then, in both two subsystems, the performance bounds constructed by the newly established appointed-time performance functions are devised for guaranteeing the tracking performance, and the controllers are designed via applying the dynamic surface control technique with integral barrier Lyapunov functions in-volved. Moreover, finite-time tracking differentiators and finite-time multivariable disturbance observers are exploited to estimate the target signals and the lumped disturbances, respectively. Finally, two examples of simulation are carried out to validate the effectiveness and superiority of the proposed control method. (c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：8454 / 8483

页数：30

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