Finite-time terminal sliding mode tracking control of a VTOL UAV via the generalized NDOB

DOI10.1155/2020/4651475MaRDI QIDQ2007104zbMATH OpenOpenAlexFDO

Authors Lu Wang, Jianhua Cheng

Publication date 12 October 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/4651475

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: 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.

Recommendations

• Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control
• Global trajectory tracking control of VTOL-UAVs without linear velocity measurements
• On novel trajectory tracking control of quadrotor UAV: a finite-time guaranteed performance approach
• Multivariable super twisting based robust trajectory tracking control for small unmanned helicopter
• Singularity-free adaptive fault-tolerant trajectory tracking controller for VTOL uavs

Cites work

• Advanced Engineering Dynamics
• Disturbance Observer for Estimating Higher Order Disturbances in Time Series Expansion
• Finite-Time Stability of Continuous Autonomous Systems
• Mixing adaptive fault tolerant control of quadrotor UAV
• Nonlinear and adaptive intelligent control techniques for quadrotor UAV -- a survey
• On trajectory tracking model predictive control of an unmanned quadrotor helicopter subject to aerodynamic disturbances
• The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory
• Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping

This page was built for publication: Finite-time terminal sliding mode tracking control of a VTOL UAV via the generalized NDOB

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2007104)