This paper focuses on the finite-time generalized synchronization problem of non-identical fractional order chaotic (or hyper-chaotic) systems by a designing adaptive sliding mode controller and its application to secure communication. The effects of both disturbances and model uncertainties are taken into account. A novel fractional order integral sliding mode surface is designed and its stability to the origin is proved in a given finite time. By the aid of the fractional Lyapunov stability theory, a robust controller with adaptive update laws is proposed and its finite-time stability for generalized synchronization between two non-identical fractional-order chaotic systems in the presence of model uncertainties and external disturbances is derived. Numerical simulations are provided to demonstrate the effectiveness and robustness of the presented approach. All simulation results obtained are in good agreement with the theoretical analysis. According to the proposed generalized finite-time synchronization criterion, a novel speech cryptosystem is proposed to send or share voice messages privately via secure channel. Security and performance analyses are given to show the practical effect of the proposed theories.
This paper proposes an image-based visual servoing control method for a moving target of a quadrotor UAV (QUAV). Firstly, the dynamic image model with moving target parameters is established based on the image moment features in the virtual camera plane. For the unpredictability of the moving target in space, we use a high-order differentiator to estimate the state parameters of the moving target. In order to solve the problem of image depth information caused by a monocular camera, we derive a nonlinear finite-time linear velocity observer from the virtual image plane, which can not only estimate the linear velocity information of QUAV but also avoid the measurement of image depth. Based on the above information, we design the global finite-time controller and use Lyapunov theory to prove the finite-time stability of the system. Finally, the numerical simulations verify the convergence of the proposed control scheme, and the ROS gazebo simulations demonstrate the improved performance of the proposed control scheme in tracking error.
The main objective of this paper is to use a novel finite-time control method to solve the global finite-time convergence problem of image-based visual servoing of a quadrotor Unmanned Aerial Vehicle (QUAV). The effects of external wind resistance and system uncertainty are considered in the QUAV dynamics, and a disturbance observer is used to compensate for these effects. For the problem of obtaining target feature depth information, a novel nonlinear finite-time linear velocity observer is proposed by using the backstepping method. Based on the above two observers, we use the backstepping method to design the global finite-time controller of the system. The system is proved global finite-time stable using the Lyapunov method. Finally, numerical simulation and ROS gazebo simulation results demonstrate the effectiveness of the proposed control scheme.
This paper proposes an image-based visual servoing control method for a moving target of a quadrotor UAV (QUAV). Firstly, the dynamic image model with moving target parameters is established based on the image moment features in the virtual camera plane. For the unpredictability of the moving target in space, we use a high-order differentiator to estimate the state parameters of the moving target. In order to solve the problem of image depth information caused by a monocular camera, we derive a nonlinear finite-time linear velocity observer from the virtual image plane, which can not only estimate the linear velocity information of QUAV but also avoid the measurement of image depth. Based on the above information, we design the global finite-time controller and use Lyapunov theory to prove the finite-time stability of the system. Finally, the numerical simulations verify the convergence of the proposed control scheme, and the ROS gazebo simulations demonstrate the improved performance of the proposed control scheme in tracking error.
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