scholarly journals Flatness-Based Aggressive Formation Tracking Control of Quadrotors with Finite-Time Estimated Feedforwards

2021 ◽  
Vol 11 (2) ◽  
pp. 792
Author(s):  
Zhicheng Hou ◽  
Gong Zhang ◽  
Wenlin Yang ◽  
Weijun Wang ◽  
Changsoo Han
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Controller Design ◽  
High Order ◽  
Experimental Results ◽  
Formation Tracking ◽  
Tracking Controller ◽  
Formation Pattern

In this paper we address a decentralized neighbor-based formation tracking control of multiple quadrotors with leader–follower structure. Different from most of the existing work, the formation tracking controller is given in one loop without distinguishing the motion control and attitude control by means of the theory of flatness. In order to achieve an aggressive formation tracking, the high-order states of the neighbors motion are estimated by using a proposed extended finite-time observer for each quadrotor. Then the estimated motion states are used as feedforwards in the formation controller design. Simulation and experimental results show that the proposed formation controller improves the formation performance, i.e., the formation pattern of the quadrotors is better maintained than that using the formation controller without high-order feedforwards, when tracking an aggressive reference formation trajectory.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals A COMPARISON OF LYAPUNOV AND FUZZY APPROACHES TO TRACKING CONTROLLER DESIGN

2020 ◽  
Vol 1 (2) ◽  
pp. 54-57
Author(s):  
Tan- Sang Le ◽  
Le Hong Hieu
Keyword(s):  
Mobile Robots ◽  
Lyapunov Stability ◽  
Tracking Control ◽  
Controller Design ◽  
Final Goal ◽  
Tracking Controller

There are numerous types of locomotion of mobile robots. Therein, the most widespread type of locomotion is motion using wheels. The task of robot is transport themselves from place to place. And tracking control is always an important problem to appply robots in practice. The robot has to reach the final goal by following a referenced trajectory. The paper proposes two methods based on the lyapunov stability standard and fuzzy law. Then, we simulate the algorithms to evaluate the results.

scholarly journals Gliding-Guided Projectile Attitude Tracking Controller Design Based on Improved Adaptive Twisting Sliding Mode Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wenguang Zhang ◽  
Wenjun Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Closed Loop System ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Chattering Attenuation ◽  
Attitude Tracking Control

The finite-time attitude tracking control for gliding-guided projectile with unmatched and matched disturbance is investigated. An adaptive variable observer is used to provide estimation for the unmeasured state which contains unmatched disturbance. Then, an improved adaptive twisting sliding mode algorithm is proposed to compensate for the matched disturbance dynamically with better transient quality. Finally, a proof of the finite-time convergence of the closed-loop system under the disturbance observer and the adaptive twisting sliding mode-based controller is derived using the Lyapunov technique. This attitude tracking control scheme does not require any information on the bounds of uncertainties. Simulation results demonstrate that the proposed method which is able to acquire the minimum possible values of the control gains guaranteeing the finite-time convergence performs well in chattering attenuation and tracking precision.

Finite-time formation tracking control with collision avoidance for quadrotor UAVs

2020 ◽  
Vol 357 (7) ◽  
pp. 4034-4058 ◽  
Author(s):  
Youfang Huang ◽  
Wen Liu ◽  
Bo Li ◽  
Yongsheng Yang ◽  
Bing Xiao
Keyword(s):  
Collision Avoidance ◽  
Finite Time ◽  
Tracking Control ◽  
Formation Tracking ◽  
Quadrotor Uavs
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