This paper proposes a finite-time trajectory tracking control (TTC) for a fixed-wing unmanned aerial vehicle (UAV) by a fast non-singular terminal sliding-mode strategy. A second-order nonlinear model is established to transform the UAV outer loop dynamics. To estimate the external disturbance, an extended state observer with finite-time observation capability is utilized. Furthermore, the trajectory tracking errors are constrained within a bounded region by prescribed performance control. Finally, simulations are conducted to verify the effectiveness of the finite-time TTC scheme.


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    Title :

    Extended State Observer-Based Finite-Time Trajectory Tracking Control of Fixed-Wing UAV With Prescribed Error Constraint


    Contributors:
    Xu, Yiwei (author) / Yu, Ziquan (author) / Chen, Fuyang (author) / Zhang, Youmin (author)


    Publication date :

    2022-06-21


    Size :

    1256237 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English