Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation

Summary This paper studies finite‐time fully distributed formation and reconfiguration control of multiple unmanned aerial vehicle helicopter with disturbances and uncertainty. Based on adaptive and terminal sliding‐mode control techniques, a disturbance observer‐based fully distributed control strategy is proposed, which is independent of least nonzero eigenvalue of Laplacian matrix and achieves practical finite‐time formation tracking for a moving leader without any additional condition. The proposed method is proved superior to the existing method in converging time. The finite‐time stability of the closed‐loop error is proved by the Lyapunov theory. Considering formation configuration changing as a result of a task change, a modified finite‐time fully distributed controller including potential energy function gradient terms with an adaptive law is proposed. The novelty of the reconfiguration controller is that an adaptive law is firstly integrated in the gradient items, then the asymptotical stability is extended to practical finite‐time stability. Simulation results are presented to demonstrate the efficiency of the developed algorithm.

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“…. Therefore, after time T = T 1i + ... + T ni + T 2 + T 3 , the formation error e Pi will converge to (27). This completes the proof.…”

Section: Outer-loop Disturbance Observer and Controllersupporting

confidence: 58%

Finite‐time fully distributed formation reconfiguration control for UAV helicopters

Wang

Zong

Tian

et al. 2018

Intl J Robust & Nonlinear

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“…Compared with a single‐quadrotor aircraft, multiquadrotor aircraft system has many special advantages, such as a higher work efficiency, a larger work area, and so on . Due to distributed formation control that only uses the neighbor information to achieve desired formation behavior even in the complex environment, this issue on how to design distributed formation control algorithm for multiquadrotor aircraft system is very challenging …”

Section: Introductionmentioning

confidence: 99%

“…[8][9][10][11][12] Due to distributed formation control that only uses the neighbor information to achieve desired formation behavior even in the complex environment, this issue on how to design distributed formation control algorithm for multiquadrotor aircraft system is very challenging. [13][14][15][16][17][18][19] In practice, the communication connection of multiquadrotor aircraft system depends on the perceptual range of each quadrotor, but the perception and communication capabilities of each quadrotor aircraft are usually limited. Therefore, the connectivity of the communication topology network cannot be guaranteed at a long distance, which drives us to solve the problem of connectivity preservation.…”

Section: Introductionmentioning

confidence: 99%

Formation control for multiquadrotor aircraft: Connectivity preserving and collision avoidance

Cong

Jin

et al. 2020

Intl J Robust & Nonlinear

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Summary In this article, we investigate the formation control problem of multiquadrotor aircraft system subject to connectivity preservation and collision avoidance. First, based on the backstepping design method, a novel formation control algorithm is developed to enable multiquadrotor aircraft to move along the desired trajectory while becoming the predefined formation pattern. Meanwhile, the connectivity of the communication network is maintained and the collision among multiquadrotor is avoided. Second, for each quadrotor's desired attitude obtained by the formation controller, an improved finite‐time attitude tracking law is designed to guarantee that the desired attitude can be tracked by the real attitude in a fast finite time. Finally, a numerical example is given to demonstrate the effectiveness of the proposed algorithms.

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“…Generally, the closed‐loop systems under finite‐time stability demonstrate the faster convergence and better disturbance rejection . It is widely known that SMC is a representative technology in the field of finite‐time convergence theory . Integral‐type sliding mode, terminal sliding mode (TSM), and fast TSM (FTSM) are used to construct the finite‐time FTC strategy for spacecraft attitude stabilization in related works .…”

Section: Introductionmentioning

confidence: 99%

“…[14][15][16] It is widely known that SMC is a representative technology in the field of finite-time convergence theory. [17][18][19][20][21] Integral-type sliding mode, terminal sliding mode (TSM), and fast TSM (FTSM) are used to construct the finite-time FTC strategy for spacecraft attitude stabilization in related works. [22][23][24] To overcome the singularity problem intrinsic in TSM, nonsingular TSM (NTSM) has been used to design fault-free 25 and fault-tolerant 26 attitude control laws.…”

mentioning

confidence: 99%

Adaptive multivariable finite‐time continuous fault‐tolerant control of rigid spacecraft

Zhao

Zong

Tian

et al. 2019

Intl J Robust & Nonlinear

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Summary The problem of fault‐tolerant attitude tracking control for rigid spacecraft in the presence of inertia uncertainties, actuator faults, and external disturbances is investigated in this paper. A novel adaptive finite‐time continuous fault‐tolerant control strategy is developed by combining the fast nonsingular terminal sliding mode surface and the adaptive multivariable super‐twisting algorithm, which improves the robustness while preserving high accuracy and finite‐time convergence. The main features of the control strategy are the double‐layer adaptive algorithm based on equivalent control, which ensures nonoverestimation of the control gain and the continuous controller, which maintains better property of chattering reduction. Finally, the efficiency of the proposed controller is illustrated by numerical simulations.

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Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation

Cited by 244 publications

References 35 publications

Finite‐time fully distributed formation reconfiguration control for UAV helicopters

Finite‐time fully distributed formation reconfiguration control for UAV helicopters

Formation control for multiquadrotor aircraft: Connectivity preserving and collision avoidance

Adaptive multivariable finite‐time continuous fault‐tolerant control of rigid spacecraft

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