Appointed-finite-time Control for Quadrotor UAVs with External Disturbances: An Adaptive Sliding Mode Observer based Approach

2020 ◽  
Author(s):  
Wenquan Gong ◽  
Bo Li ◽  
Ke Qin ◽  
Yongsheng Yang
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
External Disturbances ◽  
Adaptive Sliding Mode ◽  
Time Control ◽  
Quadrotor Uavs

scholarly journals RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs

2021 ◽  
Vol 2021 ◽  
pp. 1-10 ◽  
Author(s):  
Meiling Tao ◽  
Xiongxiong He ◽  
Shuzong Xie ◽  
Qiang Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Auxiliary Function ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Control Scheme ◽  
Unknown Disturbances ◽  
Quadrotor Unmanned Aerial Vehicles

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

scholarly journals Dynamic angular velocity turning for extremum seeking control of a two-dimensional mobile robot with external disturbances

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985132
Author(s):  
Yibin Wang ◽  
Huilin Li ◽  
Xiaoying Sun ◽  
Hua Chen
Keyword(s):  
Angular Velocity ◽  
Mobile Robot ◽  
Finite Time ◽  
Sliding Mode ◽  
Extremum Seeking ◽  
Two Dimensional ◽  
Dynamic Feedback ◽  
External Disturbances ◽  
Extremum Seeking Control ◽  
Time Control

In this article, the extremum seeking control of a two-dimensional mobile robot with external disturbances is discussed by applying dynamic angular velocity turning method. First, the extremum seeking scheme is proposed to describe the trajectory of the two-dimensional robot and to achieve extreme value optimization through dynamic feedback. Secondly, the method of finite-time control and dynamic feedback is proposed to ensure that the dynamic angular velocity converges to the virtual controller within a finite time. Thirdly, the sliding mode disturbance observer is designed to guarantee that the observer converges to an unknown disturbance in finite time. Furthermore, we allow the averaging method and the results are applied in stability analysis. Finally, our control scheme is feasible by a series of simulations.

scholarly journals Optimal Adaptive Control and Backstepping Control Method with Sliding Mode Differentiator

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Shengxin Sun ◽  
Yang Zhao ◽  
Hao Wu
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Operation Time ◽  
Backstepping Control ◽  
Space Robot ◽  
Robot Arm ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Time Control

In order to improve the success rate of space debris object capture, how to increase the resistance to interference in the space robot arm has become an issue of interest. In addition, since the space operation time is always limited, finite-time control has become another urgent requirement needed to be addressed. Considering external disturbances, two control methods are proposed in this paper to solve the control problem of space robot arm. Firstly, a linear sliding mode control method is proposed considering the model uncertainties and external disturbances. The robot arm can track the desired trajectory, while a trade-off between optimality and robustness of the solved system can be achieved. Then, in order to reduce conservativeness and relax restrictions on external disturbances, a novel backstepping control method based on a finite-time integral sliding mode disturbance observer is developed, which compensates for the effects of both model uncertainties and infinite energy-based disturbance inputs. Finally, simulation examples are given to illustrate the effectiveness of the proposed control method.

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