Abstract
A high-precision prescribed-time guidance law is developed for a quadrotor to accomplish precise path following at predesigned time T. Firstly, a new control structure is proposed for a quadrotor to perform fixed-velocity back-to-turn flying mode by introducing four controllers, which can realize a non-sideslip and bank-to-turn flight scheme just like a fixed-wing unmanned aerial vehicle. Then, prescribed-time guidance law is presented based on fixed-velocity back-to-turn flying mode via combining sliding mode control with a compensation function [Formula: see text] to improve tracking precision of conventional methods. Compensation function [Formula: see text] is designed to make state error achieve convergence at prescribed time exactly. Meanwhile, global sliding mode is established to enhance robustness of the system. Then, the stability and characteristic of prescribed-time convergence are proved strictly. Finally, simulations with a 6-degree-of-freedom quadrotor model are carried out to demonstrate the effectiveness and superiority of prescribed-time guidance law by comparing with traditional guidance law.
Highlights
Quadrotors have numerous potential applications no matter for military or civil use
To improve the conventional methods, sliding mode control is recommended for designing path following guidance law, due to its advantages of high precision and robustness
A new control structure is proposed for quadrotor, which can perform a non-sideslip and bank-to-turn flight scheme just like a fixed-wing unmanned aerial vehicle (UAV)
Summary
Quadrotors have numerous potential applications no matter for military or civil use. They present many advantages compared with fixed-wing unmanned aerial vehicle (UAV) including high maneuverability, the capability to hover, vertical takeoff, and landing in limited spaces.[1,2] In recent years, the missions of quadrotor are becoming more complex such as close range surveillance, detection, and commercial package management.[3,4] All the missions put forward a requirement of an accurate path following method. The existing guidance laws of quadrotor achieve position control by tracking a set of given waypoints or timevarying target point.[7,8] such flying mode cannot maintain a constant flight speed, which is proportional to the distance between the quadrotor and the target point It cannot achieve precise smooth turn with a constant speed. Sujit et al performs simulations of some existing path following methods and compares the control efforts and tracking errors of them.[13] The foregoing literature are all confirmed to be effective They cannot achieve path following at predesigned time exactly and the tracking accuracies of them are not high enough. By means of combining sliding mode control and the compensation function pðtÞ, a high-precision prescribed-time guidance law (PTGL) is proposed for path following of quadrotor in this article. Simulations are performed to show effectiveness and superiority of the method proposed
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