Abstract During the actual flight of unmanned helicopters, there are widespread output constraints, system uncertainties and external disturbances, which bring significant threats to their safe flight. To keep the output constraints from violating predefined boundaries, the barrier Lyapunov function (BLF) is utilized in this paper. The system uncertainties are estimated by the fuzzy logic system (FLS). The compound disturbances composed of the external disturbances and the approximation errors caused by FLS are approximated by the fixed-time disturbance observers (FTDOs). According to the analysis of FTDOs and fixed-time stability theory, the observer errors and state errors converge to a region of the origin in fixed-time, and the appropriate parameters of FTDOs and controller are designed to ensure that the disturbance convergence time is faster than the one of the proposed controller, which further improves the stability of the system. Moreover, the convergence time of the FTDOs FTDOs and the proposed approach only depends on the design parameters under any initial conditions with constrained outputs. The performance of the proposed control approach is verified through the simulation results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    FTDO-based adaptive fuzzy fixed-time tracking control for uncertain unmanned helicopter with output constraints


    Contributors:
    Ma, Haoxiang (author) / Ren, Ruonan (author) / Tao, Fazhan (author) / Fu, Zhumu (author) / Wang, Nan (author)


    Publication date :

    2024-02-25




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Output regulation for an unmanned helicopter via integral fuzzy control

    Liu, Chien-Hung / Lian, Kuang-Yow | Tema Archive | 2011


    Fuzzy Control for an Unmanned Helicopter

    Kadmiry, Bourhane | BASE | 2002

    Free access

    Fuzzy control of an unmanned helicopter

    Sugeno, M. / Nishino, J. / Miwa, H. | NTRS | 1993


    Fuzzy Control of an Unmanned Helicopter

    M. Sugeno / J. Nishino / H. Miwa | NTIS | 1993