Journal
MATHEMATICAL PROBLEMS IN ENGINEERING
Volume 2021, Issue -, Pages -Publisher
HINDAWI LTD
DOI: 10.1155/2021/6623471
Keywords
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Funding
- National Key R&D Program of China [2017YFC0602000]
- Science and Technology Development Project of Jilin Province [20190303061SF]
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The paper presents a strategy for accurate trajectory tracking control of a quadrotor by combining linear prediction model of disturbances and fuzzy sliding mode control based on LFSC. The proposed LFSC scheme showed superior performance and robustness in the presence of external disturbances, as demonstrated through simulation results and comprehensive comparisons.
In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.
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