Finite-time adaptive optimal tracking control for a QUAV

Yang, Wei; Cui, Guozeng; Ma, Qian; Ma, Jiali; Guo, Shu-Guang

doi:10.1007/s11071-023-08349-2

Cited by 10 publications

(1 citation statement)

References 39 publications

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“…However, many control methods can only obtain stability of control systems within an infinite time [22][23][24]. Therefore, some researchers have shifted their focus to finite-time control problems [25][26][27]. For instance, the adaptive finite-time consensus control design for a type of multi-agent systems with unknown actuator faults was studied in [28,29].…”

Section: Introductionmentioning

confidence: 99%

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Deng

Huang

et al. 2023

Mathematics

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In this work, the position and attitude tracking finite-time adaptive control problem of a type of vertical take-off and landing (VTOL) aircraft system is studied. Here, the dynamic of the VTOL aircraft is subjected to external disturbances and unknown nonlinearities. Firstly, radial basis function neural networks are introduced to approximate these unknown nonlinearities, and adaptive weight update laws are proposed to replace unknown ideal weights. Secondly, for the errors generated in the approximation process and the external disturbances of the aircraft system, adaptive parameter update laws are presented. After that, based on the designed global fast terminal sliding mode control functions and adaptive update laws, we present the position tracking control laws and the roll angle control law. Then, based on this, the adaptive global fast terminal sliding control laws for the given aircraft system are finally obtained. Meanwhile, the stability of the aircraft control system is proven by using Lyapunov stability theory and designed adaptive control laws. It is not only ensured that the outputs of the aircraft system can track the given trajectories, but also ensured that the tracking errors can converge to approximately zero within a finite time. Finally, the validity of the designed adaptive control laws is verified through three numerical examples. It can be obtained that the finite-time tracking problems of the given aircraft system can be achieved at 18.8766 s and 14.6340 s under the given parameters. The results are consistent with the theoretical analysis. In addition, under the control laws proposed in this work, the aircraft system can achieve tracking after 9.443 s and 9.674 s and the tracking errors are basically close to zero, which is significantly superior to other control methods considered in this work.

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Section: Introductionmentioning

confidence: 99%

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Deng

Huang

et al. 2023

Mathematics

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Fixed‐time neuroadaptive formation control for multiple QUAVs with external disturbance

Cheng,

Xin,

et al. 2024

Adv Control Appl

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This paper studies the formation control of multiple quadrotor unmanned aerial vehicle systems (MQUAVSs) with external disturbance. A new adaptive fixed‐time cooperative control protocol is designed for MQUAVSs. A fixed‐time command filtered compensation control technology is presented to overcome the “explosion of complexity” issue, and a new fixed‐time error compensation signal is designed to compensate the filtering error, which improves the convergence speed of the system. Adaptive neural network technology is introduced to deal with unknown nonlinear functions in the system. A fixed‐time stability theorem is presented for MQUAVSs to ensure that MQUAVSs can reach the predetermined formation and the formation tracking errors converge to the neighborhood of the origin in a fixed time. Finally, the effectiveness of the proposed method is verified by the formation simulation of MQUAVs.

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A new adaptive control design for a quadrotor system with suspended load by an elastic rope

Chang,

Yang,

Tong

et al. 2023

Nonlinear Dyn

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Finite-time adaptive optimal tracking control for a QUAV

Cited by 10 publications

References 39 publications

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Fixed‐time neuroadaptive formation control for multiple QUAVs with external disturbance

A new adaptive control design for a quadrotor system with suspended load by an elastic rope

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