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.


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    Titel :

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


    Beteiligte:
    Chen, Qiang (Autor:in) / Tao, Meiling (Autor:in) / He, Xiongxiong (Autor:in) / Tao, Liang (Autor:in)


    Erscheinungsdatum :

    01.10.2021


    Format / Umfang :

    5260495 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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