Changchun Institute of Optics,Fine Mechanics and Physics,CAS
| Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation | |
| Fu, Chunyang1; Tian, Yantao1,2; Huang, Haiyang1; Zhang, Lei1; Peng, Cheng3 | |
| 2018-10-01 | |
| 发表期刊 | ISA TRANSACTIONS
 |
| ISSN | 0019-0578 |
| 卷号 | 81页码:52-62 |
| 通讯作者 | Tian, Yantao(tianyt@jlu.edu.cn) |
| 摘要 | Finite-time trajectory tracking problem for a novel 12-rotor unmanned aerial vehicle (UAV) with input saturation is investigated in this paper. The UAV is divided into outer loop (altitude system and translational system) and inner loop (attitude system), and hierarchical structure is adopted to design the control scheme. In order to ensure finite-time convergence property and compensate input saturation impact simultaneously, a finite-time backstepping control strategy combined with a finite-time auxiliary system is proposed for the outer loop. Additional signals are generated to prevent control performance degradation caused by input saturation. The finite-time stability for outer loop is rigorously proved via Lyapunov theory. For inner loop, linear active disturbance rejection control is employed for attitude controllers design to enhance the robustness against the lumped disturbances. Finally simulation experiments illustrate the effectiveness and superiority of the proposed algorithm. |
| 关键词 | Unmanned aerial vehicle Finite-time control Input saturation Finite-time auxiliary system Finite-time stability |
| DOI | 10.1016/j.isatra.2018.08.005 |
| 关键词[WOS] | DISTURBANCE OBSERVER ; QUADROTOR AIRCRAFT ; ATTITUDE-CONTROL ; UAV ; HELICOPTER ; TARGET |
| 收录类别 | SCI |
| 语种 | 英语 |
| 资助项目 | National Natural Science Foundation, China[11372309] ; National Natural Science Foundation, China[61304017] ; Science & Technology Development Project, Jilin, China[20150204074GX] ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform |
| 项目资助者 | National Natural Science Foundation, China ; Science & Technology Development Project, Jilin, China ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| WOS类目 | Automation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation |
| WOS记录号 | WOS:000449897700006 |
| 出版者 | ELSEVIER SCIENCE INC |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ciomp.ac.cn/handle/181722/60301 |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 通讯作者 | Tian, Yantao |
| 作者单位 | 1.Jilin Univ, Coll Commun Engn, Changchun 130025, Jilin, Peoples R China 2.Jilin Univ, Minist Educ, Key Lab Bion Engn, Changchun 130025, Jilin, Peoples R China 3.Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Changchun 130000, Jilin, Peoples R China |
| 推荐引用方式 GB/T 7714 | Fu, Chunyang,Tian, Yantao,Huang, Haiyang,et al. Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation[J]. ISA TRANSACTIONS,2018,81:52-62. |
| APA | Fu, Chunyang,Tian, Yantao,Huang, Haiyang,Zhang, Lei,&Peng, Cheng.(2018).Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation.ISA TRANSACTIONS,81,52-62. |
| MLA | Fu, Chunyang,et al."Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation".ISA TRANSACTIONS 81(2018):52-62. |
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| Finite-time trajecto（1076KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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