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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
Source PublicationISA TRANSACTIONS
ISSN0019-0578
Volume81Pages:52-62
Corresponding AuthorTian, Yantao(tianyt@jlu.edu.cn)
AbstractFinite-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.
KeywordUnmanned aerial vehicle Finite-time control Input saturation Finite-time auxiliary system Finite-time stability
DOI10.1016/j.isatra.2018.08.005
WOS KeywordDISTURBANCE OBSERVER ; QUADROTOR AIRCRAFT ; ATTITUDE-CONTROL ; UAV ; HELICOPTER ; TARGET
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational Natural Science Foundation, China ; Science & Technology Development Project, Jilin, China ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS IDWOS:000449897700006
PublisherELSEVIER SCIENCE INC
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ciomp.ac.cn/handle/181722/60302
Collection中国科学院长春光学精密机械与物理研究所
Corresponding AuthorTian, Yantao
Affiliation1.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
Recommended Citation
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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