Robust Fixed-Time Sliding Mode Attitude Control of Tilt Trirotor UAV in Helicopter Mode
In this article, we address the problem of robust fixed-time attitude stabilization for tilt trirotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed...
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| Published in | IEEE transactions on industrial electronics (1982) Vol. 69; no. 10; pp. 10322 - 10332 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.10.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0278-0046 1557-9948 |
| DOI | 10.1109/TIE.2021.3118556 |
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| Abstract | In this article, we address the problem of robust fixed-time attitude stabilization for tilt trirotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed-time sliding mode surface is developed, which has better convergence performance than existing methods. Third, a continuous fast fixed-time sliding mode control law is proposed by applying the developed sliding mode surface and adaptive technique. As a result, the convergence time of the closed-loop system is bounded and independent of the initial conditions. Simulation and experiments are presented to verify that the proposed scheme can effectively and rapidly achieve attitude stabilization while maintaining high control precision and robustness. |
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| AbstractList | In this article, we address the problem of robust fixed-time attitude stabilization for tilt trirotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed-time sliding mode surface is developed, which has better convergence performance than existing methods. Third, a continuous fast fixed-time sliding mode control law is proposed by applying the developed sliding mode surface and adaptive technique. As a result, the convergence time of the closed-loop system is bounded and independent of the initial conditions. Simulation and experiments are presented to verify that the proposed scheme can effectively and rapidly achieve attitude stabilization while maintaining high control precision and robustness. |
| Author | Wang, Xiangke Zhao, Shulong Yu, Li He, Guang |
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| SubjectTerms | Adaptive control Attitude control Attitude stability Control theory Convergence Feedback control fixed-time stability Helicopter control Initial conditions Parameter uncertainty Robust control Robustness Sliding mode control sliding mode control (SMC) tilt trirotor unmanned aerial vehicle (UAV) Uncertainty Unmanned aerial vehicles Upper bound |
| Title | Robust Fixed-Time Sliding Mode Attitude Control of Tilt Trirotor UAV in Helicopter Mode |
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