Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*

Wenquan Gong; Bo Li; Hang Xiong; Yongsheng Yang; Bing Xiao

doi:10.1109/ICUAS48674.2020.9214016

Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*

Wenquan Gong, Bo Li, Hang Xiong, Yongsheng Yang, Bing Xiao

Shanghai Maritime University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1338-1343
Number of pages	6
ISBN (Electronic)	9781728142777
DOIs	https://doi.org/10.1109/ICUAS48674.2020.9214016
State	Published - Sep 2020
Externally published	Yes
Event	2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece Duration: 1 Sep 2020 → 4 Sep 2020

Publication series

Name	2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference	2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Country/Territory	Greece
City	Athens
Period	1/09/20 → 4/09/20

Access to Document

10.1109/ICUAS48674.2020.9214016

Cite this

Gong, W., Li, B., Xiong, H., Yang, Y., & Xiao, B. (2020). Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*. In 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 (pp. 1338-1343). Article 9214016 (2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS48674.2020.9214016

Gong, Wenquan ; Li, Bo ; Xiong, Hang et al. / Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*. 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1338-1343 (2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020).

@inproceedings{ea47df9824d74814aea1ca71931c2ca5,

title = "Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*",

abstract = "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.",

author = "Wenquan Gong and Bo Li and Hang Xiong and Yongsheng Yang and Bing Xiao",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 ; Conference date: 01-09-2020 Through 04-09-2020",

year = "2020",

month = sep,

doi = "10.1109/ICUAS48674.2020.9214016",

language = "英语",

series = "2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1338--1343",

booktitle = "2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020",

}

Gong, W, Li, B, Xiong, H, Yang, Y & Xiao, B 2020, Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*. in 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020., 9214016, 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1338-1343, 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020, Athens, Greece, 1/09/20. https://doi.org/10.1109/ICUAS48674.2020.9214016

Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*. / Gong, Wenquan; Li, Bo; Xiong, Hang et al.
2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1338-1343 9214016 (2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 -

Gong W, Li B, Xiong H, Yang Y, Xiao B. Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*. In 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1338-1343. 9214016. (2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020). doi: 10.1109/ICUAS48674.2020.9214016

Observer based Appointed-finite-time Nonsingular Sliding Mode based Disturbance Attenuation Control for Quadrotor UAV*

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this