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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    Title :

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


    Contributors:
    Chen, Qiang (author) / Tao, Meiling (author) / He, Xiongxiong (author) / Tao, Liang (author)


    Publication date :

    2021-10-01


    Size :

    5260495 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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