TY - GEN
T1 - Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*
AU - Gong, Wenquan
AU - Li, Bo
AU - Xiong, Hang
AU - Yang, Yongsheng
AU - Xiao, Bing
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - This work investigates the appointed-finite-time trajectory tracking control problem for quadrotor unmanned aerial vehicles subject to external disturbances. More specifically, two nonsingular terminal sliding mode manifolds are first designed so that the singularity problem is settled. Furthermore, the appointed-finite-time stability of the proposed manifolds is proved by rigorous Lyapunov theory. Then, two novel sliding mode based appointed-finite-time controllers are developed to realize the trajectory tracking objective. The undesired chattering is alleviated by discontinuous control structure. Finally, numerical simulation results are presented to illustrate that the quadrotor can successfully accomplish the tracking task by utilizing the proposed controllers.
AB - This work investigates the appointed-finite-time trajectory tracking control problem for quadrotor unmanned aerial vehicles subject to external disturbances. More specifically, two nonsingular terminal sliding mode manifolds are first designed so that the singularity problem is settled. Furthermore, the appointed-finite-time stability of the proposed manifolds is proved by rigorous Lyapunov theory. Then, two novel sliding mode based appointed-finite-time controllers are developed to realize the trajectory tracking objective. The undesired chattering is alleviated by discontinuous control structure. Finally, numerical simulation results are presented to illustrate that the quadrotor can successfully accomplish the tracking task by utilizing the proposed controllers.
UR - http://www.scopus.com/inward/record.url?scp=85094965264&partnerID=8YFLogxK
U2 - 10.1109/ICUAS48674.2020.9214016
DO - 10.1109/ICUAS48674.2020.9214016
M3 - 会议稿件
AN - SCOPUS:85094965264
T3 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
SP - 1338
EP - 1343
BT - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Y2 - 1 September 2020 through 4 September 2020
ER -