Finite-Time Geometric Tracking Controller for Multirotor Systems
A continuous nonsingular terminal sliding-mode controller (N-TSMC) has been developed that ensures finite time convergence of the attitude of a multirotor subject to disturbance. A newly designed disturbance compensator is incorporated in the developed controller to guarantee that the disturbance co...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9923906/ |
| _version_ | 1797985707409539072 |
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| author | Han-Hsuan An Teng-Hu Cheng |
| author_facet | Han-Hsuan An Teng-Hu Cheng |
| author_sort | Han-Hsuan An |
| collection | DOAJ |
| description | A continuous nonsingular terminal sliding-mode controller (N-TSMC) has been developed that ensures finite time convergence of the attitude of a multirotor subject to disturbance. A newly designed disturbance compensator is incorporated in the developed controller to guarantee that the disturbance compensation error exhibits finite-time convergence. A stability analysis showed that the developed controller can ensure that the closed-loop system achieves homogeneous finitetime stability. Simulations were performed to verify the efficacy of the developed controller. Compared with the traditional NTSMC, the simulation results indicate that the continuous NTSMC can still achieve finite-time convergence without causing high-frequency chattering since the control input is continuous. To the best of our knowledge, this is the first time that a continuous N-TSMC has been applied to multirotor systems to ensure finite-time stability. |
| first_indexed | 2024-04-11T07:21:11Z |
| format | Article |
| id | doaj.art-a828e5907c824ae5830ba6e02542c79f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T07:21:11Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a828e5907c824ae5830ba6e02542c79f2022-12-22T04:37:11ZengIEEEIEEE Access2169-35362022-01-011011090511091510.1109/ACCESS.2022.32156899923906Finite-Time Geometric Tracking Controller for Multirotor SystemsHan-Hsuan An0Teng-Hu Cheng1https://orcid.org/0000-0002-1451-3937Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanDepartment of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanA continuous nonsingular terminal sliding-mode controller (N-TSMC) has been developed that ensures finite time convergence of the attitude of a multirotor subject to disturbance. A newly designed disturbance compensator is incorporated in the developed controller to guarantee that the disturbance compensation error exhibits finite-time convergence. A stability analysis showed that the developed controller can ensure that the closed-loop system achieves homogeneous finitetime stability. Simulations were performed to verify the efficacy of the developed controller. Compared with the traditional NTSMC, the simulation results indicate that the continuous NTSMC can still achieve finite-time convergence without causing high-frequency chattering since the control input is continuous. To the best of our knowledge, this is the first time that a continuous N-TSMC has been applied to multirotor systems to ensure finite-time stability.https://ieeexplore.ieee.org/document/9923906/Finite-time stabilitygeometric tracking controldisturbance compensatornonlinear controlLyapunov theory |
| spellingShingle | Han-Hsuan An Teng-Hu Cheng Finite-Time Geometric Tracking Controller for Multirotor Systems IEEE Access Finite-time stability geometric tracking control disturbance compensator nonlinear control Lyapunov theory |
| title | Finite-Time Geometric Tracking Controller for Multirotor Systems |
| title_full | Finite-Time Geometric Tracking Controller for Multirotor Systems |
| title_fullStr | Finite-Time Geometric Tracking Controller for Multirotor Systems |
| title_full_unstemmed | Finite-Time Geometric Tracking Controller for Multirotor Systems |
| title_short | Finite-Time Geometric Tracking Controller for Multirotor Systems |
| title_sort | finite time geometric tracking controller for multirotor systems |
| topic | Finite-time stability geometric tracking control disturbance compensator nonlinear control Lyapunov theory |
| url | https://ieeexplore.ieee.org/document/9923906/ |
| work_keys_str_mv | AT hanhsuanan finitetimegeometrictrackingcontrollerformultirotorsystems AT tenghucheng finitetimegeometrictrackingcontrollerformultirotorsystems |