Abstract
In this paper, we propose a finite-time sliding mode trajectory tracking control methodology for the vertical takeoff and landing unmanned aerial vehicle (VTOL UAV). Firstly, a system error model of trajectory tracking task is established based on Rodrigues parameters by considering both external and internal uncertainties. According to the cascade property, the system model is divided into translational and rotational subsystems, and a hierarchical control structure is hence proposed. Then, a finite-time generalized nonlinear disturbance observer (NDOB) is proposed, based on which the finite-time convergence result of equivalent disturbance estimation can be acquired. Finally, by introducing a tan-type compensator into the traditional terminal sliding mode control (SMC), the finite-time convergence result of the closed-loop control system is acquired based on Lyapunov stability analysis. Simulation results show the effectiveness of the proposed methodology.
Highlights
In recent years, vertical takeoff and landing unmanned aerial vehicles (VTOL UAVs) have been widely investigated in the aspects of battlefield rescue, community logistics, scientific exploration, and disaster detection
We focus on the trajectory tracking task of a VTOL UAV, and a modified generalized nonlinear disturbance observer (NDOB)-based finite-time terminal sliding mode control (SMC) methodology is proposed
Different from the most existing works, Rodrigues parameters (RPs) are used in this paper to establish the system error model, based on which the system error model is divided into translational and rotational subsystems according to the cascade property
Summary
Vertical takeoff and landing unmanned aerial vehicles (VTOL UAVs) have been widely investigated in the aspects of battlefield rescue, community logistics, scientific exploration, and disaster detection. En, finite-time controllers, which contain modified generalized NDOB and terminal SMC, are proposed for both translational and rotational subsystems. (1) A modified generalized NDOB is proposed by introducing a nonlinear feedback into the traditional structure to acquire finite-time convergence of disturbance estimation (2) e finite-time terminal SMC method is proposed by using a tan-type function as a feedback compensator (3) e Rodrigues theorem is employed to analyze the property of coupling term between each subsystem, based on which finite-time stability of the closedloop system is obtained is paper is organized as follows.
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