Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

被引：4
|
作者：
Shang, Wei [1 ]
Hu, Shichao [1 ]
Li, Xiao [1 ]
Tu, Xikai [1 ]
机构：
[1] Hubei Univ Technol, Sch Mech Engn, Wuhan 430068, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2020年 / 17卷 / 05期
关键词：
Quadrotor UAV; fixed time convergence control; motor dynamics; composite disturbances; fixed time extended state observer; SLIDING-MODE CONTROL; EXTENDED STATE OBSERVER; TRAJECTORY TRACKING; ATTITUDE-CONTROL; DESIGN; SYSTEM; UAV; SUBJECT;
D O I：
10.1177/1729881420940473
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.
引用
收藏
页数：15
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