Adaptive Sliding Mode Trajectory Tracking Control of Quadrotor UAV with Unknown Control Direction

Wang, Lijun; Deng, Wencong; Liu, Jinkun; Mei, Rong

doi:10.1007/978-981-15-0474-7_56

Cited by 4 publications

(7 citation statements)

References 17 publications

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“…Then, for the system considered in (3) with the control input in (9)- (10), where y i is generated by (60). Then,…”

Section: Discussion On Fully Distributed Implementation Of the Propos...mentioning

confidence: 99%

“…The subsystem in (9)-( 10) is designed to drive x i to y i . The Nussbaum function in (9) is employed to accommodate the unknown control directions and the second equation in (10) is utilized to compensate the unknown parameter θ i . In addition, the subsystem in (11)-( 12) is adapted from [5] to act as a reference generator that would…”

Section: Remarkmentioning

confidence: 99%

“…The simulation setting of this section follows that of Section 6.1 and δ ij (0) = 0 for all i ∈ {1, 2, • • • , 7}, j ∈ {1, 2}. The simulation results for the system considered in (3) with the control input in ( 9)- (10), where y i is generated by (60) are given in Figs. 14-17.…”

Section: Fully Distributed Implementations Of the Proposed Algorithmsmentioning

confidence: 99%

“…It was recognized that the longitudinal dynamics of the air-breathing hypersonic vehicle suffer from unknown control directions as well [9]. Furthermore, the authors in [10] argued that in some situations, it is difficult to detect the control directions of quadrotor unmanned aerial vehicles. Without the information on control directions, the controller design becomes much more challenging especially for multi-agent systems.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Nash Equilibrium Seeking for Games in Systems with Unknown Control Directions

Ye,

Xu,

Yin

2020

Preprint

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Distributed Nash equilibrium seeking for games in uncertain networked systems without a prior knowledge about control directions is explored in this paper. More specifically, the dynamics of the players are supposed to be first-order or second-order systems in which the control directions are unknown and there are parametric uncertainties. To achieve Nash equilibrium seeking in a distributed way, Nussbaum function based strategies are proposed through separately designing an optimization module and a state regulation module. The optimization module generates a reference trajectory, that can search for the Nash equilibrium, for the state regulation module. The state regulator is designed to steer the players' actions to the reference trajectory. An adaptive law is included in the state regulation module to compensate for the uncertain parameter in the players' dynamics and the Nussbaum function is included to address the unavailability of the control directions. Fully distributed implementations of the proposed algorithms are discussed and investigated. Through our analytical explorations, we show that the proposed seeking strategies can drive the players' actions to the Nash equilibrium asymptotically without requiring the homogeneity of the players' unknown control directions based on Barbalat's lemma. A numerical example is given to support the theoretical analysis of the proposed algorithms.

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“…Then, for the system considered in (3) with the control input in (9)- (10), where y i is generated by (60). Then,…”

Section: Discussion On Fully Distributed Implementation Of the Propos...mentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Fully Distributed Implementations Of the Proposed Algorithmsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Distributed Nash Equilibrium Seeking for Games in Systems with Unknown Control Directions

Ye,

Xu,

Yin

2020

Preprint

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show abstract

“…In general, the main goal of control of a quadrotor is attitude and altitude control which keeps the quadrotor in the set point [19,20]. Therefore, some control approaches have been used for control of quadrotor including PID [21,22], Linear Quadratic Regulator (LQR) [23,24], feedback linearization control [25,26], backstepping control [27,28], SMC [29,30], and adaptive control [29,31]. SMC scheme is accepted as an efficient instrument for planning a robust controller of high-order systems with nonlinear and uncertain components [32,33].…”

Section: Background and Motivationsmentioning

confidence: 99%

Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

2021

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Adaptive Sliding Mode Control of Quadrotor UAV Based on Neural Network

Jia

2021

Lecture Notes in Electrical Engineering

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Adaptive Sliding Mode Trajectory Tracking Control of Quadrotor UAV with Unknown Control Direction

Cited by 4 publications

References 17 publications

Distributed Nash Equilibrium Seeking for Games in Systems with Unknown Control Directions

Distributed Nash Equilibrium Seeking for Games in Systems with Unknown Control Directions

Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

Adaptive Sliding Mode Control of Quadrotor UAV Based on Neural Network

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