On novel trajectory tracking control of quadrotor UAV: A finite-time guaranteed performance approach |
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| Institution: | 1. School of Automation, Central South University, Changsha, 410083, China;2. Science and Technology on Space Physics Laboratory, Beijing, 100076, China;3. Research Institute of Aerospace Technology, Central South University, Changsha, 410083, China;1. School of Electronics Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 41566, Republic of Korea;2. Department of Control and Instrumentation Engineering, Pukyong National University, 45 Yongsoro, Namgu, Busan 48513, Republic of Korea;1. School of Internet Finance and Information Engineering, Guangdong University of Finance, Guangzhou,510521, China;2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China;3. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, 510006, China;4. School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China;1. Department of Mathematics, Guizhou University, Guiyang, Guizhou 550025, PR China;2. Key Laboratory of High Performance Computing and Stochastic Information Processing (Ministry of Education of China), CHP-LCOCS, School of Mathematics and Statistics, Hunan Normal University, Changsha 410081, China;1. College of Control Science and Engineering, Bohai University, Liaoning, Jinzhou 121013, China;2. College of Mathematical Sciences, Bohai University, Liaoning, Jinzhou 121013, China |
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| Abstract: | 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 involved. 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. |
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