Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation

doi:10.1016/j.isatra.2018.08.005

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation
	Peng, Cheng 1; Zhang, Lei 3; Huang, Haiyang 3; Tian, Yantao 2,3; Fu, Chunyang 3
刊名	ISA TRANSACTIONS
	2018-10-01
卷号	81 页码:52-62
关键词	Unmanned aerial vehicle Finite-time control Input saturation Finite-time auxiliary system Finite-time stability
ISSN号	0019-0578
DOI	10.1016/j.isatra.2018.08.005
通讯作者	Tian, Yantao(tianyt@jlu.edu.cn)
英文摘要	Finite-time trajectory tracking problem for a novel 12-rotor unmanned aerial vehicle (UAV) with input saturation is investigated in this paper. The UAV is divided into outer loop (altitude system and translational system) and inner loop (attitude system), and hierarchical structure is adopted to design the control scheme. In order to ensure finite-time convergence property and compensate input saturation impact simultaneously, a finite-time backstepping control strategy combined with a finite-time auxiliary system is proposed for the outer loop. Additional signals are generated to prevent control performance degradation caused by input saturation. The finite-time stability for outer loop is rigorously proved via Lyapunov theory. For inner loop, linear active disturbance rejection control is employed for attitude controllers design to enhance the robustness against the lumped disturbances. Finally simulation experiments illustrate the effectiveness and superiority of the proposed algorithm.
资助项目	National Natural Science Foundation, China[11372309] ; National Natural Science Foundation, China[61304017] ; Science & Technology Development Project, Jilin, China[20150204074GX] ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform
WOS关键词	DISTURBANCE OBSERVER ; QUADROTOR AIRCRAFT ; ATTITUDE-CONTROL ; UAV ; HELICOPTER ; TARGET
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	ELSEVIER SCIENCE INC
WOS记录号	WOS:000449897700006
资助机构	National Natural Science Foundation, China ; Science & Technology Development Project, Jilin, China ; Jilin University 985 Project Engineering Bionic Sci. & Tech. Innovation Platform
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/60301]
专题	中国科学院长春光学精密机械与物理研究所
通讯作者	Tian, Yantao
作者单位	1.Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Changchun 130000, Jilin, Peoples R China 2.Jilin Univ, Minist Educ, Key Lab Bion Engn, Changchun 130025, Jilin, Peoples R China 3.Jilin Univ, Coll Commun Engn, Changchun 130025, Jilin, Peoples R China
推荐引用方式 GB/T 7714	Peng, Cheng,Zhang, Lei,Huang, Haiyang,et al. Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation[J]. ISA TRANSACTIONS,2018,81:52-62.
APA	Peng, Cheng,Zhang, Lei,Huang, Haiyang,Tian, Yantao,&Fu, Chunyang.(2018).Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation.ISA TRANSACTIONS,81,52-62.
MLA	Peng, Cheng,et al."Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation".ISA TRANSACTIONS 81(2018):52-62.