The fixed-Wang, Jie trajectory tracking problem of a quadrotor with six Ma, Xiao of freedom (6-DOF) under bounded disturbances Zhang, Gaowei investigated in this paper. The split-loop design Zhang, Yan which divides the quadrotor into position Miao, Qing and attitude subsystem is adopted. Next, the nonsingular fixed-time controllers are developed and both the inner and outer loop can track the expected trajectory within fixed-time. The settling time depends only on the selected control parameters and is independent of the system’s initial state. The stability of the entire system is proved. Finally, the simulation studies based on the quadrotor model illustrate the robustness of the designed fixed-time controller.
Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft
Lect. Notes Electrical Eng.
Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019) ; Chapter : 39 ; 413-421
2019-12-04
9 pages
Article/Chapter (Book)
Electronic Resource
English
Fixed-time , Terminal sliding mode control (TSMC) , Quadrotor , Trajectory tracking Engineering , Control and Systems Theory , Computational Intelligence , Robotics and Automation , Artificial Intelligence , Data-driven Science, Modeling and Theory Building , Power Electronics, Electrical Machines and Networks
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