Journal
IEEE ACCESS
Volume 8, Issue -, Pages 179363-179372Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3027854
Keywords
Unmanned aerial vehicles; Backstepping; Attitude control; Trajectory tracking; Explosions; Complexity theory; Electronic countermeasures; Quadrotor unmanned aerial vehicle; command filtered backstepping; adaptive quantized control; finite-time control
Categories
Funding
- National Natural Science Foundation of China [61703059, 61973179, 61873144, 61801323]
- Natural Science Foundation of Jiangsu Province [BK20170291]
- Taishan Scholar Special Project Fund [TSQN20161026]
- China Post-Doctoral Science Foundation [2018M632621]
- Postgraduate Research and Practice Innovation Program of Jiangsu Province [SJCX20_1111]
- Science and Technology Projects Fund of Suzhou [SYG201708, SS2019029]
- Construction System Science and Technology Fund of Jiangsu Province [2017ZD066]
- Open Foundation of The Suzhou Smart City Research Institute, Suzhou University of Science and Technology [SZSCR2019003, SZSCR2019009]
- Applied Research Project for Postdoctoral Researchers of Qingdao
Ask authors/readers for more resources
In this paper, a finite-time command filtered backstepping (FTCFB) adaptive trajectory tracking control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) with quantized inputs and external disturbances. For the position subsystem and attitude subsystem, a finite-time command filter is introduced to faster approximate the derivative of virtual control signal, which can effectively avoid the problem of explosion of complexity inherent in the traditional backstepping design procedure. The fractional order error compensation mechanism is designed to remove the filter error, and it further improves control performance. From the Lyapunov stability theory, the boundedness of all signals in the closed-loop system is rigorously proved, and the position and attitude tracking errors can converge to a small neighborhood of the origin in finite-time. Finally, a numerical example is conducted to intuitively show the validity of the developed control scheme.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available