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Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints
Joint Authors
Zhu, Guoqiang
Wang, Sen
Sun, Lingfang
Ge, Weichun
Xiu-yu, Zhang
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-15
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhu, Guoqiang& Wang, Sen& Sun, Lingfang& Ge, Weichun& Xiu-yu, Zhang. 2020. Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints. Complexity،Vol. 2020, no. 2020, pp.1-23.
https://search.emarefa.net/detail/BIM-1144383
Modern Language Association (MLA)
Zhu, Guoqiang…[et al.]. Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints. Complexity No. 2020 (2020), pp.1-23.
https://search.emarefa.net/detail/BIM-1144383
American Medical Association (AMA)
Zhu, Guoqiang& Wang, Sen& Sun, Lingfang& Ge, Weichun& Xiu-yu, Zhang. Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints. Complexity. 2020. Vol. 2020, no. 2020, pp.1-23.
https://search.emarefa.net/detail/BIM-1144383
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144383