TY - JOUR
T1 - Multivariable finite time attitude control for quadrotor UAV
T2 - Theory and experimentation
AU - Tian, Bailing
AU - Liu, Lihong
AU - Lu, Hanchen
AU - Zuo, Zongyu
AU - Zong, Qun
AU - Zhang, Yunpeng
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2018/3
Y1 - 2018/3
N2 - The attitude control of quadrotor unmanned aerial vehicle (UAV) is investigated. The aim of this paper is to develop a continuous multivariable attitude control law, which drives the attitude tracking errors of quadrotor UAV to zero in finite time. First, a multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrator systems subject to matched disturbances. A discontinuous integral term is incorporated in the control law in order to compensate the disturbances. A rigorous proof of the finite time stability of the close-loop system is derived by utilizing the Lyapunov method and the homogeneous technique. Then, the implementation of the developed method in an indoor quadrotor UAV is performed. The remarkable features of the developed algorithm includes the finite time convergence, the chattering suppression and the nominal performance recovery. Finally, the efficiency of the proposed method is illustrated by numerical simulations and experimental verification.
AB - The attitude control of quadrotor unmanned aerial vehicle (UAV) is investigated. The aim of this paper is to develop a continuous multivariable attitude control law, which drives the attitude tracking errors of quadrotor UAV to zero in finite time. First, a multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrator systems subject to matched disturbances. A discontinuous integral term is incorporated in the control law in order to compensate the disturbances. A rigorous proof of the finite time stability of the close-loop system is derived by utilizing the Lyapunov method and the homogeneous technique. Then, the implementation of the developed method in an indoor quadrotor UAV is performed. The remarkable features of the developed algorithm includes the finite time convergence, the chattering suppression and the nominal performance recovery. Finally, the efficiency of the proposed method is illustrated by numerical simulations and experimental verification.
KW - Attitude control
KW - finite time stability
KW - quadrotor unmanned aerial vehicle (UAV)
UR - https://www.scopus.com/pages/publications/85028450041
U2 - 10.1109/TIE.2017.2739700
DO - 10.1109/TIE.2017.2739700
M3 - 文章
AN - SCOPUS:85028450041
SN - 0278-0046
VL - 65
SP - 2567
EP - 2577
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 3
M1 - 8010301
ER -