Fuzzy Adaptive Nonsingular Fixed-Time Attitude Tracking Control of Quadrotor UAVs

• Published in: IEEE transactions on aerospace and electronic systems Vol. 57; no. 5; pp. 2864 - 2877
• Main Authors: Chen, Qiang, Tao, Meiling, He, Xiongxiong, Tao, Liang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive control; Attitude control; Continuity (mathematics); Control systems design; Convergence; fixed-time control; Fuzzy logic; fuzzy logic system (FLS); Mathematical model; nonsingular sliding mode surface; quadrotors; Quaternions; Sliding mode control; Tracking control; Tracking errors; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters
• ISSN: 0018-9251; 1557-9603
• DOI: 10.1109/TAES.2021.3067610

In this article, a fuzzy adaptive nonsingular fixed-time attitude tracking control scheme is proposed for the quadrotor unmanned aerial vehicles (UAVs) subject to inertia uncertainties, actuator saturation, and faults. A new nonsingular fixed-time sliding mode surface and an auxiliary function are constructed, such that the singularity problem can be avoided in the controller design without using any piecewise continuous functions. Then, a novel arccot function-based double power reaching law is developed to adjust the control gain and enhance the transient tracking performance. The fixed-time convergence of sliding variables and tracking errors are analyzed by rigorous theoretical proofs, and comparative experiments on a three-degree-of-freedom quadrotor platform are performed to illustrate the effectiveness of the presented scheme.