Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance

Bi, Haiyun; Guo-yuan, QI; Li, Xia

doi:10.1016/j.apm.2021.07.014

Cited by 7 publications

(2 citation statements)

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“…Assumption 2 and Assumption 3 are reasonable and more suitable for practical application. And, it also can overcome the limitations of previous works, such as knowing system parameters [13,16] , not considering parameter disturbances [8,12] , or knowing the bound of the external disturbances [11] .…”

Section: A Uncertain System Modelmentioning

confidence: 99%

“…In [7], a tracking flight control scheme is proposed based on a disturbance observer for a quadrotor with external disturbances, but the parameter uncertainties in QUAV systems did not been considered. In [8], an attitude system of a QUAV with disturbance and gyroscopic effect was developed, however, the moment of inertia was not considered, and only the yaw direction which is most commonly executed in the QUAV was discussed in this paper. In [9], a new robust nonlinear adaptive controller was investigated subjected to disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Appointed-Time Prescribed Performance Fault Tolerant Control for QUAV With Actuator Fault and Model Parameters Uncertainties

Han

Zhen

et al. 2022

IEEE Access

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In this paper, an appointed-time prescribed performance fault-tolerant control (ATPPFTC) method for quadrotor unmanned aerial vehicle (QUAV) system is studied in the presence of model parameters uncertainties, actuator faults and external disturbances. For the position loop and the attitude loop, the proposed method overcomes the model parameters uncertainties caused by the changes of rotary inertia, the mass and aerodynamic damping coefficients. Meanwhile, unknown actuator faults and unknown external disturbances are investigated by using adaptive method. Moreover, a new appointed-time prescribed performance function and coordinate transformation are introduced to impose performance characteristics on the tracking errors. Based on the Lyapunov stability theory, an adaptive dynamic surface control method is proposed to ensure that the position and attitude tracking errors of the closed-loop system can achieve the appointed-time convergence and prescribed transient and steady-state performance. Incidentally, the convergence speed and convergence time of the system tracking error can be set flexibly. Finally, the simulation verifies the effectiveness and superiority of the proposed control scheme from both qualitative and quantitative aspects.

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Section: A Uncertain System Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%