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

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 c...

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Published inIEEE 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
LanguageEnglish
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
Online AccessGet full text
ISSN0018-9251
1557-9603
DOI10.1109/TAES.2021.3067610

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Abstract 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.
AbstractList 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.
Author Tao, Liang
He, Xiongxiong
Chen, Qiang
Tao, Meiling
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Snippet In this article, a fuzzy adaptive nonsingular fixed-time attitude tracking control scheme is proposed for the quadrotor unmanned aerial vehicles (UAVs) subject...
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SubjectTerms 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
Title Fuzzy Adaptive Nonsingular Fixed-Time Attitude Tracking Control of Quadrotor UAVs
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