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Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation

文献类型：期刊论文

作者Peng, Cheng1; Zhang, Lei3; Huang, Haiyang3; Tian, Yantao2,3; Fu, Chunyang3
刊名ISA TRANSACTIONS
出版日期2018-10-01
卷号81页码:52-62
关键词Unmanned aerial vehicle Finite-time control Input saturation Finite-time auxiliary system Finite-time stability
ISSN号0019-0578
DOI10.1016/j.isatra.2018.08.005
通讯作者Tian, Yantao(tianyt@jlu.edu.cn)
英文摘要Finite-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.
WOS关键词DISTURBANCE OBSERVER ; QUADROTOR AIRCRAFT ; ATTITUDE-CONTROL ; UAV ; HELICOPTER ; TARGET
资助项目National 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
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000449897700006
出版者ELSEVIER SCIENCE INC
资助机构National Natural Science Foundation, China ; Science & Technology Development Project, Jilin, China ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform
源URL[http://ir.ciomp.ac.cn/handle/181722/60302]  
专题中国科学院长春光学精密机械与物理研究所
通讯作者Tian, Yantao
作者单位1.Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Changchun 130000, Jilin, Peoples R China
2.Jilin Univ, Minist Educ, Key Lab Bion Engn, Changchun 130025, Jilin, Peoples R China
3.Jilin Univ, Coll Commun Engn, Changchun 130025, Jilin, Peoples R China
推荐引用方式
GB/T 7714		 Peng, Cheng,Zhang, Lei,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 Peng, Cheng,Zhang, Lei,Huang, Haiyang,Tian, Yantao,&Fu, Chunyang.(2018).Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation.ISA TRANSACTIONS,81,52-62.
MLA Peng, Cheng,et al."Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation".ISA TRANSACTIONS 81(2018):52-62.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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