Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

Jianghua Wang; Khalid A. Alattas; Yassine BouteraaOmid MofidSaleh Mobayen

首页> 外文期刊>Aerospace science and technology >Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

【24h】

Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

机译：Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

In this study, for the purpose of finite-time tracking control of quad-rotor Unmanned Aerial Vehicle (UAV) system under modeling uncertainties and external disturbances, an adaptive command-filtered backstepping sliding mode control scheme is presented. At first, a state-space model of quad-rotor's system is considered in the existence of bounded model uncertainties and exterior perturbations. Then, a command-filter according to the virtual control input is planned to reduce the computing complications. Subsequently, the output of command filter is considered instead of high-order derivative of virtual input. Besides, in order to remove the differential signals which are obtained during design of command-filter, the compensation error is used. Afterward, the sliding surfaces are designed according to tracking errors which are defined between actual states of the quad-rotor, desired values and compensation error system. Furthermore, backstepping control procedure combined with Lyapunov stability theory is used for finite-time convergence of switching surface. Besides, the adaptive control strategy is applied to estimate the upper bound of uncertainty and disturbance which is unknown in advance. At last, in order to validate the high efficacy of the designed control scheme, simulation results based on the actual parameters of quadrotor are provided. In addition, the comparison outcomes are provided to show proficiency and validity of the recommended technique compared with the existing method.

著录项

来源
《Aerospace science and technology》 |2023年第2期|108088.1-108088.19|共19页
作者
Jianghua Wang; Khalid A. Alattas; Yassine BouteraaOmid MofidSaleh Mobayen;
展开▼
作者单位

Institute of Plasma Physics. Hefei Institutes of Physical Science. Chinese Academy of Sciences, Hefei 230031. China, University of Science and Technology of China. Hefei 230026. China;

Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering. University of Jeddah, jeddah, Saudi Arabia;

College of Computer Engineering and Sciences, Prince Sattam bin Abdulaziz University, Al-Kharj 11942, Saudi Arabia, Control and Energy Management Laboratory (CEM Lab.), Ecole Nationale d'lngenieurs de Sfax (EN1S) & Institut Superieur de Biotechnologie de Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, Douliou, Yunlin 640301, Taiwan;

展开▼
收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
Quad-rotor UAV; Backstepping control; Finite-time tracking; Adaptive control; Sliding mode control;

Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance

摘要

著录项

相关主题

期刊订阅