Abstract
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.
Highlights
In the past decades, the quadrotor unmanned aerial vehicle (UAV) has attracted considerable attention due to its simple structure, efficient deployment, flexible maneuverability etc, and various practical applications have been reported such as aerial photography, urban fire rescue, cargo transportation and so on
SIMULATION RESULTS a simulation example is carried out to show the effectiveness of the proposed finite-time adaptive trajectory tracking control scheme
This paper has proposed a new finite-time command filtered backstepping (FTCFB) adaptive quantized control scheme to solve trajectory tracking problem for a quadrotor UAV, which enables the finite-time convergence
Summary
The quadrotor unmanned aerial vehicle (UAV) has attracted considerable attention due to its simple structure, efficient deployment, flexible maneuverability etc, and various practical applications have been reported such as aerial photography, urban fire rescue, cargo transportation and so on. Based on CFB technique, a new trajectory tracking control algorithm for quadrotor UAV was firstly proposed in [24]. Few results on finite-time command filtered backstepping (FTCFB) adaptive trajectory tracking control schemes for quadrotor UAV have been reported, which is one motivation of this paper. For quadrotor UAV with quantized input signals, in [32], a backstepping-based adaptive finite-time tracking control algorithm was presented. Note that the control design methods in [32] and [33] are based on the backstepping and DSC technique, respectively, so the problem of ‘‘explosion of complexity’’ exists in [32], and the better control performance may not be obtained in [33].
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