期刊
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
卷 57, 期 3, 页码 1780-1792出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAES.2021.3050647
关键词
Attitude control; Unmanned aerial vehicles; Convergence; Uncertainty; Backstepping; Stability analysis; Sliding mode control; Attitude tracking; backstepping design; finite-time control; quadrotor unmanned aerial vehicle (QUAV)
资金
- National Natural Science Foundation of China [61973274, 61922037, 61873115, 61803216]
- Key Laboratory Open Project Fund [GDSC202010]
- Yunnan Fundamental Research Projects [202001AV070001]
This article proposes a novel finite-time approximation-free control scheme for attitude tracking of quadrotor UAVs, ensuring error convergence and singularity-free property within a finite duration. With a simple structure and less computational burden, this control scheme effectively handles dynamics coupling without requiring model information or approximations. Extensive experiments validate its effectiveness on a 3-DOF quadrotor platform.
In this article, a novel finite-time approximation-free control scheme is proposed for the attitude tracking of quadrotor unmanned aerial vehicles. Prescribed performance functions are employed to transform the original attitude tracking problem into an alternative system stabilization problem. By incorporating a finite-time error compensation mechanism into the recursive control design, the finite-time error convergence, and singularity-free property can be guaranteed simultaneously. Compared with the existing approximation-based control schemes, the presented controller has a simple cascade proportional-like structure and less computational burden, and the coupling among the roll, pitch, and yaw dynamics can be successfully handled without requiring any model information or function approximations. With the proposed control scheme, the attitude tracking error can be retained within a prescribed boundary and converge into a sufficiently small region around origin in finite time. Extensive comparative experiments on a three degree-of-freedom (3-DOF) quadrotor platform are performed to validate the effectiveness of the proposed control scheme.
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