Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer
For the quadrotor unmanned aerial vehicle (UAV) system with time-varying load,the compound finite-time control strategy was proposed in the presence of unknown external disturbances and unknown drag coefficients.Firstly,a complete mathematical model of quadrotor UAV was established by Newton-Euler m...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Hebei University of Science and Technology
2021-12-01
|
| Series: | Journal of Hebei University of Science and Technology |
| Subjects: | |
| Online Access: | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202106005&flag=1&journal_ |
| _version_ | 1819008972699467776 |
|---|---|
| author | Xiaojing1 WU Wenyan1 ZHENG Xueli12 WU Ran1 ZHEN Shikai1 SHAO |
| author_facet | Xiaojing1 WU Wenyan1 ZHENG Xueli12 WU Ran1 ZHEN Shikai1 SHAO |
| author_sort | Xiaojing1 WU |
| collection | DOAJ |
| description | For the quadrotor unmanned aerial vehicle (UAV) system with time-varying load,the compound finite-time control strategy was proposed in the presence of unknown external disturbances and unknown drag coefficients.Firstly,a complete mathematical model of quadrotor UAV was established by Newton-Euler method .An adaptive trajectory tracking controller with unknown drag coefficient was designed by combining the adaptive parameter correction method of position loop with backstepping control to estimate load.Then,a finite-time sliding mode controller and Lyapunov stability theory were used so that the position loop and the attitude loop were proved to be asymptotically stable and finite-time stable,respectively.Finally,it was verified by numerical simulation.The results show that the proposed controller improves the system convergence rate,and reduces the influence of outside disturbance to the system.This method overcomes the limitations of known drag coefficients and load in the existing research,improves the anti-interference ability of the system,and has certain reference value for enhancing the practical application of the quadrotor UAV. |
| first_indexed | 2024-12-21T00:48:58Z |
| format | Article |
| id | doaj.art-a82c453e927b4d3e834967ecdda1b955 |
| institution | Directory Open Access Journal |
| issn | 1008-1542 |
| language | zho |
| last_indexed | 2024-12-21T00:48:58Z |
| publishDate | 2021-12-01 |
| publisher | Hebei University of Science and Technology |
| record_format | Article |
| series | Journal of Hebei University of Science and Technology |
| spelling | doaj.art-a82c453e927b4d3e834967ecdda1b9552022-12-21T19:21:27ZzhoHebei University of Science and TechnologyJournal of Hebei University of Science and Technology1008-15422021-12-0142657959010.7535/hbkd.2021yx06005b202106005Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observerXiaojing1 WU0Wenyan1 ZHENG1Xueli12 WU2Ran1 ZHEN3Shikai1 SHAO4School of Electrical Engineering,Hebei University of Science and Technology,shijiazhuang,Hebei 050018,ChinaSchool of Electrical Engineering,Hebei University of Science and Technology,shijiazhuang,Hebei 050018,ChinaSchool of Electrical Engineering,Hebei University of Science and Technology,shijiazhuang,Hebei 050018,ChinaSchool of Electrical Engineering,Hebei University of Science and Technology,shijiazhuang,Hebei 050018,ChinaSchool of Electrical Engineering,Hebei University of Science and Technology,shijiazhuang,Hebei 050018,ChinaFor the quadrotor unmanned aerial vehicle (UAV) system with time-varying load,the compound finite-time control strategy was proposed in the presence of unknown external disturbances and unknown drag coefficients.Firstly,a complete mathematical model of quadrotor UAV was established by Newton-Euler method .An adaptive trajectory tracking controller with unknown drag coefficient was designed by combining the adaptive parameter correction method of position loop with backstepping control to estimate load.Then,a finite-time sliding mode controller and Lyapunov stability theory were used so that the position loop and the attitude loop were proved to be asymptotically stable and finite-time stable,respectively.Finally,it was verified by numerical simulation.The results show that the proposed controller improves the system convergence rate,and reduces the influence of outside disturbance to the system.This method overcomes the limitations of known drag coefficients and load in the existing research,improves the anti-interference ability of the system,and has certain reference value for enhancing the practical application of the quadrotor UAV.http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202106005&flag=1&journal_automatic control theory; quadrotor unmanned aerial vehicle (uav); time-varying load; disturbance observer; backstepping control; sliding mode control |
| spellingShingle | Xiaojing1 WU Wenyan1 ZHENG Xueli12 WU Ran1 ZHEN Shikai1 SHAO Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer Journal of Hebei University of Science and Technology automatic control theory; quadrotor unmanned aerial vehicle (uav); time-varying load; disturbance observer; backstepping control; sliding mode control |
| title | Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer |
| title_full | Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer |
| title_fullStr | Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer |
| title_full_unstemmed | Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer |
| title_short | Adaptive finite-time control for quadrotor UAV with time-varying load based on disturbance observer |
| title_sort | adaptive finite time control for quadrotor uav with time varying load based on disturbance observer |
| topic | automatic control theory; quadrotor unmanned aerial vehicle (uav); time-varying load; disturbance observer; backstepping control; sliding mode control |
| url | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202106005&flag=1&journal_ |
| work_keys_str_mv | AT xiaojing1wu adaptivefinitetimecontrolforquadrotoruavwithtimevaryingloadbasedondisturbanceobserver AT wenyan1zheng adaptivefinitetimecontrolforquadrotoruavwithtimevaryingloadbasedondisturbanceobserver AT xueli12wu adaptivefinitetimecontrolforquadrotoruavwithtimevaryingloadbasedondisturbanceobserver AT ran1zhen adaptivefinitetimecontrolforquadrotoruavwithtimevaryingloadbasedondisturbanceobserver AT shikai1shao adaptivefinitetimecontrolforquadrotoruavwithtimevaryingloadbasedondisturbanceobserver |