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Fixed-Time Controller Design for a Quadrotor UAV with Asymmetric Output Error Constraints

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文摘 In this article, a fixed-time tracking control strategy is proposed for a quadrotor UAV (QUAV) with external disturbance and asymmetric output error constraints. Firstly, a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance, and it is decoupled into attitude subsystem and position subsystem for simplifying controller design. Secondly, an asymmetric tangent barrier Lyapunov function (ATBLF) is applied to solve the tracking error constraints problem, and a fixed-time control law is designed. Meanwhile, a fixed-time disturbance observer (FTDO) is designed to cope with external disturbance. Then, it is proved that the designed controller guarantees the tracking error remains within the constraint ranges and converges to zero in fixed-time by Lyapunov stability theory. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.
来源 Journal of Systems Science and Complexity ,2023,36(5):1981-2000 【核心库】
DOI 10.1007/s11424-023-1410-y
关键词 Asymmetric tangent barrier Lyapunov function (ATBLF) ; fixed-time disturbance observer (FTDO) ; output error constraints ; quadrotor UAV (QUAV)
地址

1. School of Science,Yanshan University, Qinhuangdao, 066004  

2. Ocean College,Hebei Agricultural University, Qinhuangdao, 066003  

3. School of Electric Engineering,Yanshan University, Qinhuangdao, 066004  

4. School of Electrical and Information Engineering,Tianjin University, Tianjin, 300072

语种 英文
文献类型 研究性论文
ISSN 1009-6124
学科 自动化技术、计算机技术;航空
基金 supported by Science and Technology Project of Hebei Education Department ;  河北省自然科学基金 ;  国家自然科学基金 ;  Central Government Guided Local Science and Technology Development Fund Project
文献收藏号 CSCD:7551159

参考文献 共 37 共2页

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