Adaptive prescribed performance terminal sliding mode attitude control for quadrotor under input saturation

被引：34
|
作者：
Xu, Gang [1 ]
Xia, Yuanqing [1 ]
Zhai, Di-Hua [1 ]
Ma, Dailiang [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 17期
基金：
中国国家自然科学基金;
关键词：
control system synthesis; nonlinear control systems; Lyapunov methods; uncertain systems; attitude control; adaptive control; variable structure systems; stability; helicopters; terminal sliding mode control algorithm; prescribed performance function; steady-state error; adaptive law; external disturbances; input saturation problem; adaptive prescribed performance terminal; mode attitude control; quadrotor; attitude tracking problem; mode control scheme; DISTURBANCE REJECTION CONTROL; TRAJECTORY TRACKING CONTROL; UAV; HELICOPTER; SYSTEMS; DESIGN;
D O I：
10.1049/iet-cta.2019.0488
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study investigates the attitude tracking problem of quadrotor in presence of external disturbances and the constraint of input saturation. An adaptive prescribed performance terminal sliding mode control scheme is proposed. Terminal sliding mode control algorithm guarantees all state variables to converge to their desired value in a short time while prescribed performance function limits the convergence speed, maximum overshoot and steady-state error. Adaptive law is adopted to estimate the unknown upper bound of external disturbances. To further address input saturation problem encountered in practical system, an auxiliary system is designed. Lyapunov stability approach is applied to guarantee the stability of the closed-loop system. Finally, Numerical simulations with non-linear model are presented to demonstrate the effectiveness and superiority of the proposed control scheme.
引用
收藏
页码：2473 / 2480
页数：8
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