A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles
This paper presents a novel switching mode control scheme for the six-DOF hovering control of underactuated quadrotor unmanned aerial vehicles (QUAVs) with strong coupling. Through this paper, the full six states of the position and attitude of the QUAV can be controlled to the special target config...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/4/994 |
| _version_ | 1797619494515900416 |
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| author | Nana Cheng Chaoli Wang |
| author_facet | Nana Cheng Chaoli Wang |
| author_sort | Nana Cheng |
| collection | DOAJ |
| description | This paper presents a novel switching mode control scheme for the six-DOF hovering control of underactuated quadrotor unmanned aerial vehicles (QUAVs) with strong coupling. Through this paper, the full six states of the position and attitude of the QUAV can be controlled to the special target configuration in a fixed time. First, a continuously differentiable fixed time controller with a state constraint was designed for the position system. Second, a fixed-time integral sliding mode controller was designed for the attitude subsystem. Thirdly, a switching law was designed to switch the above two types of controllers a limited number of times during hovering control. Additionally, the crash problem is fully discussed during the entire control process. In summary, the full-state hover mission was completed. The simulation experiments verify the effectiveness of the control algorithm. |
| first_indexed | 2024-03-11T08:28:43Z |
| format | Article |
| id | doaj.art-cd3145f1f0454d9d8110c7686e7fdc13 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-11T08:28:43Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-cd3145f1f0454d9d8110c7686e7fdc132023-11-16T21:56:59ZengMDPI AGMathematics2227-73902023-02-0111499410.3390/math11040994A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial VehiclesNana Cheng0Chaoli Wang1College of Science, University of Shanghai for Science and Technology, Shanghai 200093, ChinaDepartment of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaThis paper presents a novel switching mode control scheme for the six-DOF hovering control of underactuated quadrotor unmanned aerial vehicles (QUAVs) with strong coupling. Through this paper, the full six states of the position and attitude of the QUAV can be controlled to the special target configuration in a fixed time. First, a continuously differentiable fixed time controller with a state constraint was designed for the position system. Second, a fixed-time integral sliding mode controller was designed for the attitude subsystem. Thirdly, a switching law was designed to switch the above two types of controllers a limited number of times during hovering control. Additionally, the crash problem is fully discussed during the entire control process. In summary, the full-state hover mission was completed. The simulation experiments verify the effectiveness of the control algorithm.https://www.mdpi.com/2227-7390/11/4/994fixed-time controlflight controlquadrotor unmanned aerial vehiclesspecial postureswitching mode |
| spellingShingle | Nana Cheng Chaoli Wang A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles Mathematics fixed-time control flight control quadrotor unmanned aerial vehicles special posture switching mode |
| title | A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles |
| title_full | A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles |
| title_fullStr | A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles |
| title_full_unstemmed | A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles |
| title_short | A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles |
| title_sort | switching mode control scheme for the hovering control of quadrotor unmanned aerial vehicles |
| topic | fixed-time control flight control quadrotor unmanned aerial vehicles special posture switching mode |
| url | https://www.mdpi.com/2227-7390/11/4/994 |
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