Adaptive fuzzy time-varying sliding mode control for quadrotor UAV attitude system with prescribed performance

Chang, Shaoping; Shi, Wuxi

doi:10.1109/ccdc.2017.7979270

Cited by 5 publications

(5 citation statements)

References 17 publications

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“…Recall ( 28) and (30) and define S = [ T 1 , e T 2 ] T . By using the technique of the proof of lemma C.4 in Reference 30 to the cascaded inequalities (28) and (30) and using some tedious calculations, we have the ISpS property of the overall error system:…”

Section: Isps Property Of the Overall Cascaded Error Systemmentioning

confidence: 99%

“…There have been also many works focusing on attitude control of quadrotors. 14,16,[21][22][23][24][25][26][27][28][29] It is found that in most of these works, the angular velocity measurements are used for the controller. However, in practice, the velocity measurements are often contaminated by heavy measurement noises.…”

Section: Introductionmentioning

confidence: 99%

“…(2) For each axis of Euler angle, the prescribed performance control (PPC) technique 20,28,[34][35][36] is adopted to ensure a prescribed performance, and a DOB is employed to compensate for the lumped disturbance. (3) Since the nominal inertia parameters appear directly as multiplying factors of the control inputs, the control performance may be degenerated if the nominal inertia parameters deviate from their true ones largely.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Yang

2021

Adaptive Control & Signal

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This work proposes a new adaptive robust output feedback control method for attitude reference tracking of a quadrotor unmanned aerial vehicle without using the angular velocity measurements. By using the K-filters well known in the adaptive control community, the necessity of velocity measurements or estimating is avoided. The attitude system model is transformed into a second-order model where the angular velocity measurements are not involved. However, the model includes mismatched uncertainties which should be estimated and compensated by the disturbance observers (DOBs). The controller is designed in a backstepping manner, and the dynamic surface technique is adopted to avoid the explosion of the controller complexity. For each Euler angle axis, the prescribed performance control technique is adopted to ensure a prescribed performance, the lumped disturbance is compensated by a DOB, and furthermore an adaptive law is introduced to adaptively update the corresponding uncertain inertia parameter which affects the control performance significantly. The control performance of the overall control system is analyzed rigorously from the viewpoint of input-to-state practical stability. In addition, it is shown how the adaptive laws contribute to improving the control performance. And simulation examples are provided to demonstrate the performance of the proposed method.

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Section: Isps Property Of the Overall Cascaded Error Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Yang

2021

Adaptive Control & Signal

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“…Therefore, it is very important to introduce a control strategy to obtain a good transition process. The prescribed performance, which are characterised as the inequality constraints, are utilised in [24–26] to guarantee the transient performance of tracking errors. However, the fast decaying speed of performance function and the large initial deviation, in fact, requires large inputs which possibly leads to saturation problem.…”

Section: Introductionmentioning

confidence: 99%

Adaptive prescribed performance terminal sliding mode attitude control for quadrotor under input saturation

Xia

Zhai

et al. 2020

IET Control Theory & Appl

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“…In this work, a sliding surface is defined using angular information as a function of time that provides adjustable continuous movement of the sliding surface. A decoupled SMC using time-varying sliding surface for fourth-order nonlinear systems (Yorgancioglu and Komurcugil, 2010), a finite-time attitude tracking control for a spacecraft using time-varying terminal SMC techniques (Zhao and Jia, 2015), an exponential function-based fuzzy SMC design for uncertain nonlinear systems (Nagarale and Patre, 2016), an adaptive fuzzy time-varying SMC for quadrotor unmanned aerial vehicle attitude system (Chang and Shi, 2017), a moving SMC for a DC motor driven four-bar (Cakar and Tanyildizi, 2018), an adaptive global second-order sliding surface for perturbed dynamical systems with matched and unmatched external disturbances (Mobayen and Tchier, 2018), a robust SMC with adaptive reaching law for three second-order nonlinear system (Han et al, 2018), the design of a fractional-order adaptive integral sliding mode controller for the trajectory tracking control of robot manipulators (Dumlu, 2018), the SMC with time-varying ellipsoidal sliding surface (Mizoshiri and Mori, 2019), and a fast form of non-singular, terminal, decoupled SMC which utilizes time-varying sliding surfaces for a class of fourth-order, single-input, multi-output, nonlinear systems (Yorgancioglu and Redif, 2019) and a precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller (Nejad et al, 2020) are proposed, respectively.…”

Section: Introductionmentioning

confidence: 99%

The design of a fractional-order sliding mode controller with a time-varying sliding surface

Eray

Tokat

2020

Transactions of the Institute of Measurement and Control

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The novelty of this paper is the usage of a time-varying sliding surface with a fractional-order sliding mode controller. The objective of the controller is to allow the system states to move to the sliding surface and remain on it so as to ensure the asymptotic stability of the closed-loop system. The Lyapunov stability method is adopted to verify the stability of the controller. Firstly, by using the geometric coordinate transformation that is formerly defined for conventional sliding mode controller, a novel fractional-order sliding surface is defined. The time-varying fractional-order sliding surface is then rotated in the region in which the system state trajectories are stable. The adjustment of the sliding surface slope on the new coordinate axes is achieved by tuning a parameter defined as a sigmoid function. Then, a new control rule is derived. Numerical simulations are performed on the nonlinear mass-spring-damper and 2-DOF robot manipulator system models with parameter uncertainties and bounded external disturbances. The proposed controller is compared with the conventional sliding mode controller with a constant sliding surface and the fractional-order sliding mode controller with a constant sliding surface. Simulation results have shown improved performance of the proposed controller in terms of a decrease in the reaching and settling time, and robustness to disturbances as compared with the related controllers. Moreover, it is seen that the designed controller provides an improvement in the error state trajectories.

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Adaptive fuzzy time-varying sliding mode control for quadrotor UAV attitude system with prescribed performance

Cited by 5 publications

References 17 publications

Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Adaptive prescribed performance terminal sliding mode attitude control for quadrotor under input saturation

The design of a fractional-order sliding mode controller with a time-varying sliding surface

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