Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking
To enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve the performance of global sliding-mode control, allowing the initial value to quickly reach equilibrium. The main research is focused on deriv...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10059003/ |
| _version_ | 1827994172935634944 |
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| author | Mingyuan Hu Hyeongki Ahn Kwanho You |
| author_facet | Mingyuan Hu Hyeongki Ahn Kwanho You |
| author_sort | Mingyuan Hu |
| collection | DOAJ |
| description | To enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve the performance of global sliding-mode control, allowing the initial value to quickly reach equilibrium. The main research is focused on deriving the finite settling time using the proposed decay function and presenting a detailed calculation process, instead of making a simple modification to a monotonic exponential-decay function. Moreover, we adopt an adaptive control law to ensure the robustness of the quadrotor, even without knowing the upper bound for disturbances. In addition, we perform time-varying mass simulations because the quadrotor’s load mass may change during maneuvering. Furthermore, using the Lyapunov function, the stability of the entire closed-loop system is ensured by the step-by-step stabilization of each subsystem. The simulation results show that the rapid global sliding-mode control (RGSMC) we designed is more effective than the conventional global sliding-mode control and adaptive sliding mode control with respect to stabilization and tracking against external disturbances. Hence, the fast decay property of the proposed global function is verified. |
| first_indexed | 2024-04-10T04:35:51Z |
| format | Article |
| id | doaj.art-076c140f02b7409f831cda9752aa36d3 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-10T04:35:51Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-076c140f02b7409f831cda9752aa36d32023-03-10T00:00:40ZengIEEEIEEE Access2169-35362023-01-0111223642237510.1109/ACCESS.2023.325253910059003Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory TrackingMingyuan Hu0https://orcid.org/0000-0003-1052-8952Hyeongki Ahn1Kwanho You2https://orcid.org/0000-0001-6438-8823Department of Smart Fab. Technology, Sungkyunkwan University, Suwon, South KoreaDepartment of Electrical and Computer Engineering, Sungkyunkwan University, Suwon, South KoreaDepartment of Smart Fab. Technology, Sungkyunkwan University, Suwon, South KoreaTo enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve the performance of global sliding-mode control, allowing the initial value to quickly reach equilibrium. The main research is focused on deriving the finite settling time using the proposed decay function and presenting a detailed calculation process, instead of making a simple modification to a monotonic exponential-decay function. Moreover, we adopt an adaptive control law to ensure the robustness of the quadrotor, even without knowing the upper bound for disturbances. In addition, we perform time-varying mass simulations because the quadrotor’s load mass may change during maneuvering. Furthermore, using the Lyapunov function, the stability of the entire closed-loop system is ensured by the step-by-step stabilization of each subsystem. The simulation results show that the rapid global sliding-mode control (RGSMC) we designed is more effective than the conventional global sliding-mode control and adaptive sliding mode control with respect to stabilization and tracking against external disturbances. Hence, the fast decay property of the proposed global function is verified.https://ieeexplore.ieee.org/document/10059003/Quadrotorglobal sliding mode controlfast decay functionfinite settling timetracking control |
| spellingShingle | Mingyuan Hu Hyeongki Ahn Kwanho You Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking IEEE Access Quadrotor global sliding mode control fast decay function finite settling time tracking control |
| title | Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking |
| title_full | Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking |
| title_fullStr | Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking |
| title_full_unstemmed | Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking |
| title_short | Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking |
| title_sort | finite time rapid global sliding mode control for quadrotor trajectory tracking |
| topic | Quadrotor global sliding mode control fast decay function finite settling time tracking control |
| url | https://ieeexplore.ieee.org/document/10059003/ |
| work_keys_str_mv | AT mingyuanhu finitetimerapidglobalslidingmodecontrolforquadrotortrajectorytracking AT hyeongkiahn finitetimerapidglobalslidingmodecontrolforquadrotortrajectorytracking AT kwanhoyou finitetimerapidglobalslidingmodecontrolforquadrotortrajectorytracking |