Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor
In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action...
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| Veröffentlicht in: | Mathematical problems in engineering 2021, Vol.2021, p.1-22 |
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| creator | Zhou, Guangli Yao, Yongming Liu, Huiying Bai, Xupeng Liu, Jianbo |
| description | In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances. |
| doi_str_mv | 10.1155/2021/6623471 |
| format | Article |
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To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.</description><identifier>ISSN: 1024-123X</identifier><identifier>EISSN: 1563-5147</identifier><identifier>DOI: 10.1155/2021/6623471</identifier><language>eng</language><publisher>New York: Hindawi</publisher><subject>Control algorithms ; Design ; Disturbances ; Fuzzy control ; Fuzzy logic ; Linear prediction ; Mathematical problems ; Prediction models ; Robust control ; Sliding mode control ; Systems stability ; Tracking control ; Tracking errors ; Trajectory control ; Unmanned aerial vehicles</subject><ispartof>Mathematical problems in engineering, 2021, Vol.2021, p.1-22</ispartof><rights>Copyright © 2021 Guangli Zhou et al.</rights><rights>Copyright © 2021 Guangli Zhou et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. 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| source | Wiley Online Library Open Access; EZB-FREE-00999 freely available EZB journals; Alma/SFX Local Collection |
| subjects | Control algorithms Design Disturbances Fuzzy control Fuzzy logic Linear prediction Mathematical problems Prediction models Robust control Sliding mode control Systems stability Tracking control Tracking errors Trajectory control Unmanned aerial vehicles |
| title | Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor |
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