Adaptive dynamic surface and sliding mode tracking control for uncertain QUAV with time-varying load and appointed-time prescribed performance |
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| Authors: | Xiaojing Wu Wenyan Zheng Xinxiu Zhou Shikai Shao |
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| Institution: | 1. School of Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, China;2. Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory, Beihang University, Beijing 100191, China;1. CONACYT – School of Engineering, Autonomous University of Chihuahua, Campus II, Circuito Universitario, C.P. 31100, Chihuahua, Mexico;2. Research Laboratory on Optimal Design, Devices and Advanced Materials -OPTIMA-, Department of Mathematics and Physics, ITESO, Periférico Sur Manuel Gómez Morín 8585, Tlaquepaque C.P. 45604, Jalisco, Mexico;3. Facultad de Ingeniería, Universidad Panamericana, Zapopan C.P. 45010, Jalisco, Mexico;4. Department of Electrical Engineering, CINVESTAV-IPN Guadalajara, Av. del Bosque 1145 Col. El Bajío, Guadalajara C.P. 45019, Jalisco, Mexico;1. Department of Electrical Engineering, School of Automation, Northwestern Polytechnical University, Xi’an, 710072, China;2. School of Electrical Engineering, Korea University, Seoul, 136-701, South Korea;3. State Key Laboratory of Electrical Insulation and Power Equipment, School of Electrical Engineering, Xi’an Jiaotong University, Xi’an, 710049, China;1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;2. School of Electronics, Information and Electric Engineering, Shanghai Jiaotong University, Dongchuan Road 800, Shanghai 200240, China;1. Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China;2. National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China |
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| Abstract: | In this paper, the appointed-time prescribed performance and finite-time tracking control problem is investigated for quadrotor unmanned aerial vehicle (QUAV) in the presence of time-varying load, unknown external disturbances and unknown system parameters. For the position loop, a novel appointed-time prescribed performance control (ATPPC) strategy is proposed based on adaptive dynamic surface control (DSC) frameworks and a new prescribed performance function to achieve the appointed-time convergence and prescribed transient and steady-state performance. For the attitude loop, a new finite-time control strategy is proposed based on a new designed sliding mode control technique to track the desired attitude in finite time. Some assumptions of knowing system parameters are canceled. Finally, the stability of the closed-loop system is proved via Lyapunov Theory. Simulations are performed to show the effectiveness and superiority of the proposed control scheme. |
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