倾转四旋翼无人机固定时间位姿一体化控制

doi:10.3969/j.issn.0255-8297.2022.06.013

Abstract

Abstract: A novel fixed-time control method based on non-singular terminal sliding mode and dual quaternion is proposed for the integrated attitude-position control of a tilt quadrotor unmanned aerial vehicle (UAV) in presence of parameter uncertainties and external disturbances. Firstly, considering the tilt quadrotor UAV tracking control system, a dual quaternion-based non-singular terminal sliding mode surface is constructed, and a novel fixed-time integrated attitude-position control law is designed. Furthermore, for the UAV tracking control system under external disturbances and parameter uncertainties, an immersion and invariance manifold-based adaptive law is established to estimate uncertain parameters, which can solve the problem of the estimated value deviating from the true value. And then, a fixed-time control scheme incorporating adaptive law is proposed to achieve UAV trajectory tracking control. Numerical simulation results verify that the proposed control scheme has effective performance and strong robustness to external disturbances and parameter uncertainties.

Key words: tilt quadrotor unmanned aerial vehicle (UAV), dual quaternion, integrated attitude-position control, non-singular terminal sliding mode, immersion and invariance manifold

CLC Number:

V249

XIONG Hang, LI Bo, QIN Ke, GONG Wenquan. Fixed-Time Integrated Attitude-Position Control of a Tilt Quadrotor UAV[J]. Journal of Applied Sciences, 2022, 40(6): 1034-1046.

References

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Fixed-Time Integrated Attitude-Position Control of a Tilt Quadrotor UAV

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