Abstract
This paper presents an adaptive attitude finite time tracking control algorithm for quadrotor unmanned aerial vehicle (UAV) in presence of actuator faults, input saturation and external disturbance. The dynamic model of the quadrotor UAV is characterized with quaternion representation. Subsequently, using nonsingular terminal sliding mode surface, an adaptive fault-tolerant finite-time attitude control scheme is proposed. Using Lyapunov stability analysis, it is shown that the proposed method is able to achieve practical finite time attitude tracking convergence in that the attitude tracking error converges to a small residual set within finite time and all signals of the closed-loop system remain bounded. The effectiveness of the proposed method is confirmed via numerical simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 3737-3753 |
| Number of pages | 17 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 32 |
| Issue number | 6 |
| Early online date | 24 Jan 2022 |
| DOIs | |
| Publication status | Published - Apr 2022 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2022 John Wiley & Sons Ltd.
Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 61860206008, Grant 61773081, Grant 61933012, Grant 61833013 and Chongqing Technology Innovation and Application Development Special Project under Grant cstc2019jscx‐fxydX0092.
Keywords
- actuator faults
- adaptive control
- finite-time
- quaternion
- uncertain disturbance