Journal
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
Volume 58, Issue 1, Pages 290-303Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAES.2021.3101562
Keywords
Attitude control; Observers; Unmanned aerial vehicles; Uncertainty; Convergence; Sliding mode control; Space vehicles; Appointed fixed time control; attitude control; chattering phenomenon; quadrotor unmanned aerial vehicle (UAV); singularity
Funding
- National Natural Science Foundation of China [62073212, 61873207]
- China Postdoctoral Science Foundation [2019M661467]
- Training Programme for the Top Innovative Talents of Shanghai Maritime University [2019YBR018]
- National Science and Technology Major Project [J2019-I-0021-0020]
- Natural Science Basic Research Program of Shaanxi [2019JQ-344]
- Science and Technology Program of Xi'an City [2019218314GXRC019CG020-GXYD19.3]
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This article presents a study on the appointed fixed time control problem in the quadrotor unmanned aerial vehicle attitude control system subject to external disturbances. A novel sliding mode observer is established to estimate the external disturbances, and an appointed fixed time controller is proposed to track the desired attitude. The effectiveness and performance of the proposed schemes are demonstrated through numerical simulation results.
In this article, a study of the appointed fixed time control problem is presented for the quadrotor unmanned aerial vehicle attitude control system subject to external disturbances. Based on the appointed fixed time sliding mode variable and the adaptive technique, a novel sliding mode observer is first established to estimate the external disturbances within the appointed settling time. Subsequently, an appointed fixed time controller is proposed to track the desired attitude regardless of the initial states. To circumvent the singularity problem of the above controller, a novel improved adaptive sliding mode control law is designed by employing a nonlinear function and a modified sliding mode observer. Moreover, the chattering phenomenon is attenuated by replacing the sign function with hyperbolic tangent function. The appointed practical fixed time stability of the closed-loop attitude control system is proved and analyzed rigorously utilizing the Lyapunov theory. Finally, the effectiveness and fine performance of the proposed schemes are illustrated by numerical simulation results.
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