Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints. (15th June 2020)

• Record Type: Journal Article
• Authors: Zhu, Guoqiang; Wang, Sen; Sun, Lingfang; Ge, Weichun; Zhang, Xiuyu
• Other Names: Wang Ning Guest Editor.
• Is Part Of: Complexity. Volume 2020(2020)
• Publication Date: 2020-06-15
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2020/8537198
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.