Hyperbolic tangent function-based fixed-time event-triggered control for quadrotor aircraft with prescribed performance |
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| Institution: | 1. Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China;2. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, China;3. School of Electric and Information Engineering, Tianjin University, Tianjin 300072, China;1. The Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China;2. Peng Cheng Laboratory, Shenzhen 518055, China;3. Ningbo Institute of Intelligent Equipment Technology Co., Ltd., Ningbo 315201, China;4. The Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China;1. Department of Electrical Engineering, LI3CUB Laboratory, University of Biskra, Biskra, Algeria;2. Department of Electronics, Faculty of Technology, Contantine 1 University, Constantine, Algeria;3. Department of Electrical Engineering, LGEERE Laboratory, University of El Oued, El Oued, Algeria;1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, People’s Republic of China;2. Ocean College, Zhejiang University, Zhoushan, 316021, People’s Republic of China;3. Ocean Research Center of Zhoushan, Zhejiang University, Zhoushan, 316021, People’s Republic of China;4. Hainan Institute of Zhejiang University, Sanya, 572025, People''s Republic of China;1. College of Automation Engineering, Nanjing Univ. of Aeronautics and Astronautics, Nanjing 210016, China;2. Key Laboratory of Navigation, Control and Health-Management Technologies of Advanced Aerocraft (Nanjing Univ. of Aeronautics and Astronautics), Ministry of Industry and Information Technology, Nanjing, China |
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| Abstract: | In this paper, the prescribed performance trajectory tracking problem of quadrotor aircraft with six degrees of freedom is addressed. Firstly, for the sake of facilitating the construction of controller, the aircraft is decomposed into position loop and attitude loop through time scale decomposition method. A fixed-time sliding mode controller is proposed to guarantee the convergence time of the aircraft system regardless of initial states. After that, to enhance security of control system, the hyperbolic tangent performance function is designed as performance index function to maintain the error within a prescribed range. Then, the event-triggered strategy is adopted to attitude subsystem which can significantly save communication resources, and the stability of control system is analyzed by Lyapunov method. In addition, the Zeno phenomenon is avoided which can be proved by ensuring the two consecutive trigger events have a positive lower limit. Finally, the validity of the constructed controller is confirmed by simulation results. |
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