Abstract
In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.
Highlights
IntroductionQuadrotor unmanned aerial vehicles (UAVs), as a new product in the field of small UAVs, have become a research hotspot among research and scholars all over the word [1,2,3,4,5]
Quadrotor unmanned aerial vehicles (UAVs), as a new product in the field of small UAVs, have become a research hotspot among research and scholars all over the word [1,2,3,4,5].e main advantages of quadrotor UAVs, such as flying in any direction, take off and land vertically, and hover at an ideal attitude, make the quadrotor UAVs widely used in more important fields, such as providing medical assistance, transporting special resources, disaster monitoring, and agricultural mapping
In [29], the prescribed performance backstepping dynamic surface control (DSC) scheme is proposed to solve the problem of trajectory tracking control for a quadrotor UAV with control input saturation
Summary
Quadrotor unmanned aerial vehicles (UAVs), as a new product in the field of small UAVs, have become a research hotspot among research and scholars all over the word [1,2,3,4,5]. One drawback of backstepping is the “explosion of complexity” caused by the recurrent derivation of the virtual control law in each design step To deal with this problem, the DSC control method has been proposed for a class of nonlinear systems, by introducing a first-order low-pass filter in each design step, and the shortcoming was overcome [22, 31,32,33]. In [46, 47], a prescribed performance control scheme has been proposed for a class of nonlinear systems, and by constructing a prescribed performance function, the tracking error of the system was transformed into a new variable to ensure that the convergence rate was no less than a prespecified value, and the steady-state error remains within the prescribed range.
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