Quadrotor trajectory tracking by using fixed-time differentiator. Issue 12 (2nd December 2019)

• Record Type: Journal Article
• Authors: Du, Bai-Hui; Polyakov, Andrey; Zheng, Gang; Quan, Quan
• Is Part Of: International journal of control. Volume 92:Issue 12(2019)
• Page Start: 2854
• Page End: 2868
• Publication Date: 2019-12-02
• Subjects: Fixed-time differentiator -- LMI optimisation -- feedback linearisation -- trajectory tracking; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1462534
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper proposes a fixed-time differentiator running in parallel with a feedback linearisation-based controller, which allows quadrotors to track a given trajectory. The fixed-time differentiator estimates outputs' derivatives in a predefined convergence time, largely compensating for initial condition problems and solving the delay problem. Combined with a state reconstruction step, a whole observer–estimator–controller scheme can be constructed for quadrotors to solve the trajectory tracking problem. Also, an Linear Matrix Inequality (LMI) optimisation-based algorithm to tune parameters of the differentiator is developed here. The high performance of the proposed model is illustrated by numerical simulations.