Hybrid finite-time trajectory tracking control of a quadrotor

被引：94
|
作者：
Wang, Ning [1 ]
Deng, Qi [1 ]
Xie, Guangming [3 ]
Pan, Xinxiang [2 ]
机构：
[1] Dalian Maritime Univ, Ctr Intelligent Marine Vehicles, Sch Marine Elect Engn, Dalian 116026, Peoples R China
[2] Guangdong Ocean Univ, Sch Ocean Engn, Zhanjiang 524088, Peoples R China
[3] Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
来源：
ISA TRANSACTIONS | 2019年 / 90卷
关键词：
Hybrid finite-time control; Accurate trajectory tracking control; Finite-time disturbance observer; Quadrotor; TOLERANT CONTROL; OBSERVER; GUIDANCE; SYSTEMS; DESIGN;
D O I：
10.1016/j.isatra.2018.12.042
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 paper, accurate trajectory tracking control problem of a quadrotor with unknown dynamics and disturbances is addressed by devising a hybrid finite-time control (HFTC) approach. An adaptive integral sliding mode (AISM) control law is proposed for altitude subsystem of the quadrotor, whereby underactuated characteristics can decoupled. Backstepping technique is further deployed to control the horizontal position subsystem. To exactly attenuate external disturbances, a finite-time disturbance observer (FDO) combining with nonsingular terminal sliding mode (NTSM) control strategy is constructed for attitude subsystem, and thereby achieve finite-time stability. Using the compounded control scheme, trajectory tracking errors can be stabilized rapidly. Simulation results and comprehensive comparisons show that the proposed HFTC scheme has remarkably superior performance. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：278 / 286
页数：9
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