Antisaturation Finite-Time Attitude Tracking Control Based Observer for a Quadrotor
文献类型：期刊论文
| 作者 | Liu, Kang2,3; Wang, Xingxian1; Wang, Rujing3 ; Sun, Guowei4; Wang, Xiaodong2,3
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| 刊名 | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
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| 出版日期 | 2021-06-01 |
| 卷号 | 68 |
| 关键词 | Observers Symmetric matrices Convergence Attitude control Angular velocity Circuits and systems Manifolds Attitude control extended state observer fast nonsingular terminal sliding mode wind disturbance |
| ISSN号 | 1549-7747 |
| DOI | 10.1109/TCSII.2020.3045769 |
| 通讯作者 | Liu, Kang(xinxilk@mail.ustc.edu.cn) ; Wang, Rujing(rjwang@iim.ac.cn) |
| 英文摘要 | This brief proposes an attitude tracking control method for a quadrotor subject to wind disturbance and input saturation. First, a finite-time extended state observer is designed to eliminate the wind disturbance and estimate the angular velocity. To achieve the fast finite-time convergence, singularity avoidance and chattering elimination, a fast nonsingular terminal sliding mode controller is developed. Next, an auxiliary system is constructed elaborately to address the input saturation. With the aid of Lyapunov technique, the stability analysis is provided to manifest that the tracking error converges to an arbitrarily small bounded region in finite time. Finally, simulation results demonstrate that the viability of the proposed control strategy. |
| 资助项目 | National Natural Science Foundation of China[31671586] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000655844400062 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/123697]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Liu, Kang; Wang, Rujing |
| 作者单位 | 1.Nanchang Univ, Dept Informat Engn, Nanchang 330031, Jiangxi, Peoples R China 2.Univ Sci & Technol China, Hefei 230026, Peoples R China 3.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, Intelligent Agr Engn Lab Anhui Prov, Hefei 230031, Peoples R China 4.Fudan Univ, Sch Informat Sci & Engn, Dept Elect Engn, Shanghai 200433, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Kang,Wang, Xingxian,Wang, Rujing,et al. Antisaturation Finite-Time Attitude Tracking Control Based Observer for a Quadrotor[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,2021,68. |
| APA | Liu, Kang,Wang, Xingxian,Wang, Rujing,Sun, Guowei,&Wang, Xiaodong.(2021).Antisaturation Finite-Time Attitude Tracking Control Based Observer for a Quadrotor.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,68. |
| MLA | Liu, Kang,et al."Antisaturation Finite-Time Attitude Tracking Control Based Observer for a Quadrotor".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 68(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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