Finite-Time Position Tracking Control of a Quadrotor Aircraft
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- 英文论文题名：Finite-Time Position Tracking Control of a Quadrotor Aircraft
- 论文作者：Di Wu ; Haibo Du ; Wenwu Zhu
- 英文论文作者：Di Wu ; Haibo Du ; Wenwu Zhu ; School of Electrical Engineering and Automation ; Hefei University of Technology
- 年：2017
- 作者机构：School of Electrical Engineering and Automation,Hefei University of Technology;
- 英文论文关键词：Quadrotor aircraft ; Tracking Control ; Finite-time control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：301k
- 原文格式：D
- 会议级别：全国
摘要
This paper proposes a finite-time control law for quadrotor aircraft to achieve position tracking control in a finite time.Firstly, the position dynamical equation and the attitude dynamical equation are introduced respectively. Secondly, based on the technique of finite-time control, a finite-time position controller is designed to ensure the desired trajectory can be tracked by the real position in a finite time. Then, a finite-time attitude controller is designed which can guarantee that the desired attitude can be tracked in a finite time. Finally, to show effectiveness of the proposed method, a simulation example is given.
This paper proposes a finite-time control law for quadrotor aircraft to achieve position tracking control in a finite time.Firstly, the position dynamical equation and the attitude dynamical equation are introduced respectively. Secondly, based on the technique of finite-time control, a finite-time position controller is designed to ensure the desired trajectory can be tracked by the real position in a finite time. Then, a finite-time attitude controller is designed which can guarantee that the desired attitude can be tracked in a finite time. Finally, to show effectiveness of the proposed method, a simulation example is given.
This paper proposes a finite-time control law for quadrotor aircraft to achieve position tracking control in a finite time.Firstly, the position dynamical equation and the attitude dynamical equation are introduced respectively. Secondly, based on the technique of finite-time control, a finite-time position controller is designed to ensure the desired trajectory can be tracked by the real position in a finite time. Then, a finite-time attitude controller is designed which can guarantee that the desired attitude can be tracked in a finite time. Finally, to show effectiveness of the proposed method, a simulation example is given.
引文
[1]J.Li,Y.T.Li,Dynamic analysis and PID control for a quadrotor,IEEE International Conference on Mechatronics and Automation,2011:573-578.
[2]B.Zhao,B.Xian,Y.Zhang,and X.Zhang,Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology,IEEE Transactions on Industrial Electronics,62(5):2891-2902,2015.
[3]Y.-C.Choi,H.-S.Ahn,Nonlinear control of quadrotor for point tracking:actual implementation and experimental tests,IEEE/ASME Transactions on Mechatronics,20(3):1179-1192,2015.
[4]Z.Y.Zuo,P.K.Ru,Augmented L1 adaptive tracking control of quad-Rotor unmanned aircrafts,IEEE Transactions on Industrial Electronics,50(4):3090-3100,2014.
[5]R.Xu,U.Ozguner,Sliding mode control of a class of underactuated systems,Automatica,44(1):233-241,2008.
[6]T.Abdelhamid,M.Stephen,Attitude stabilization of a VTOL quadrotor aircraft,IEEE Transactions on control systems technology,14(3):562-571,2006.
[7]J.F.Guerrero-Castellanos,N.Marchand,A.Hably,S.Lesecq,and J.Delamare,Attitude control of rigid bodies:real-time experimentation to a quadrotor mini-helicopter,Control Engineering Practice,19(8):790-797,2011.
[8]S.Islam,P.X.Liu,A.E.Saddik,Robust control of fourrotor unmanned aerial vehicle with disturbance uncertainty,IEEE Transactions on Industrial Electronics,62(3):1563-1571,2015.
[9]H.Liu,X.Wang,Y.Zhong,Quaternion-based robust attitude control for uncertain robotic quadrotors,IEEE Transactions on Industrial Informatics,11(2):406-415,2015.
[10]S.Bhat,D.Bernstein.Finite-time stability of homogeneous systems,American Control Conference,4(4):2513-2514,1997.
[11]W.Tian,C.Zhang,C.Qian and S.Li.Global Stabilization of Inherently Nonlinear Systems Using Continuously Differentiable Controllers,Nonlinear Dynamics,77(3):739-752,2014.
[12]W.Tian,H.Du and C.Qian.A Generalized Homogeneous Solution for Global Stabilization of a Class of Non-Smooth Upper-Triangular Systems,International Journal of Control,87(5):951-963,2014.
[13]W.Tian,C.Qian,L.Chai and J.Zhai.Global Finite-Time Stabilization of a Class of Non-Smooth Upper-Triangular Systems,International Conference on Intelligent Control and Automation Science,2013:335-340.
[14]S.P.Bhat,D.S.Bernstein,Finite-time stability of continuous autonomous systems,SIAM Journal on Control and Optimization,38(3):751-766,2000.
[15]S.Li,H.Du,X.Lin,Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics,Automatica,47(8):1706-1712,2011.
[16]W.Tian,H.Du and C.Qian.A Semi-Global Finite-Time Convergent Observer for a Class of Nonlinear Systems with Bounded Trajectories,Nonlinear Analysis:Real World Applications,2012:1827-1836.
[17]Hong Y,Xu Y,Huang J,Finite-time control for robot manipulators,Systems and Control Letters,46(4):185-200,2002.
[18]Khalil H K,Nonlinear systems.3rd edition,Nj:Prentice hall,Upper Saddle River,2002:303-334.
[19]B.Zhao,B.Xian,Y.Zhang,and W.Zeng,Hardware-in-Loop simulation testbed for quadrotor aerial vehicles,The 31st Chinese Control Conference,2012:5008-5013.
[2]B.Zhao,B.Xian,Y.Zhang,and X.Zhang,Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology,IEEE Transactions on Industrial Electronics,62(5):2891-2902,2015.
[3]Y.-C.Choi,H.-S.Ahn,Nonlinear control of quadrotor for point tracking:actual implementation and experimental tests,IEEE/ASME Transactions on Mechatronics,20(3):1179-1192,2015.
[4]Z.Y.Zuo,P.K.Ru,Augmented L1 adaptive tracking control of quad-Rotor unmanned aircrafts,IEEE Transactions on Industrial Electronics,50(4):3090-3100,2014.
[5]R.Xu,U.Ozguner,Sliding mode control of a class of underactuated systems,Automatica,44(1):233-241,2008.
[6]T.Abdelhamid,M.Stephen,Attitude stabilization of a VTOL quadrotor aircraft,IEEE Transactions on control systems technology,14(3):562-571,2006.
[7]J.F.Guerrero-Castellanos,N.Marchand,A.Hably,S.Lesecq,and J.Delamare,Attitude control of rigid bodies:real-time experimentation to a quadrotor mini-helicopter,Control Engineering Practice,19(8):790-797,2011.
[8]S.Islam,P.X.Liu,A.E.Saddik,Robust control of fourrotor unmanned aerial vehicle with disturbance uncertainty,IEEE Transactions on Industrial Electronics,62(3):1563-1571,2015.
[9]H.Liu,X.Wang,Y.Zhong,Quaternion-based robust attitude control for uncertain robotic quadrotors,IEEE Transactions on Industrial Informatics,11(2):406-415,2015.
[10]S.Bhat,D.Bernstein.Finite-time stability of homogeneous systems,American Control Conference,4(4):2513-2514,1997.
[11]W.Tian,C.Zhang,C.Qian and S.Li.Global Stabilization of Inherently Nonlinear Systems Using Continuously Differentiable Controllers,Nonlinear Dynamics,77(3):739-752,2014.
[12]W.Tian,H.Du and C.Qian.A Generalized Homogeneous Solution for Global Stabilization of a Class of Non-Smooth Upper-Triangular Systems,International Journal of Control,87(5):951-963,2014.
[13]W.Tian,C.Qian,L.Chai and J.Zhai.Global Finite-Time Stabilization of a Class of Non-Smooth Upper-Triangular Systems,International Conference on Intelligent Control and Automation Science,2013:335-340.
[14]S.P.Bhat,D.S.Bernstein,Finite-time stability of continuous autonomous systems,SIAM Journal on Control and Optimization,38(3):751-766,2000.
[15]S.Li,H.Du,X.Lin,Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics,Automatica,47(8):1706-1712,2011.
[16]W.Tian,H.Du and C.Qian.A Semi-Global Finite-Time Convergent Observer for a Class of Nonlinear Systems with Bounded Trajectories,Nonlinear Analysis:Real World Applications,2012:1827-1836.
[17]Hong Y,Xu Y,Huang J,Finite-time control for robot manipulators,Systems and Control Letters,46(4):185-200,2002.
[18]Khalil H K,Nonlinear systems.3rd edition,Nj:Prentice hall,Upper Saddle River,2002:303-334.
[19]B.Zhao,B.Xian,Y.Zhang,and W.Zeng,Hardware-in-Loop simulation testbed for quadrotor aerial vehicles,The 31st Chinese Control Conference,2012:5008-5013.