Adaptive dynamic surface and sliding mode tracking control for uncertain QUAV with time-varying load and appointed-time prescribed performance

• Published in: Journal of the Franklin Institute Vol. 358; no. 8; pp. 4178 - 4208
• Main Authors: Wu, Xiaojing, Zheng, Wenyan, Zhou, Xinxiu, Shao, Shikai
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.05.2021; Elsevier Science Ltd
• Subjects: Adaptive control; Attitudes; Closed loop systems; Feedback control; Finite element analysis; Mode tracking; Parameters; Sliding mode control; Systems stability; Tracking control; Tracking control systems; Unmanned aerial vehicles; Unmanned helicopters
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2021.03.018

In this paper, the appointed-time prescribed performance and finite-time tracking control problem is investigated for quadrotor unmanned aerial vehicle (QUAV) in the presence of time-varying load, unknown external disturbances and unknown system parameters. For the position loop, a novel appointed-time prescribed performance control (ATPPC) strategy is proposed based on adaptive dynamic surface control (DSC) frameworks and a new prescribed performance function to achieve the appointed-time convergence and prescribed transient and steady-state performance. For the attitude loop, a new finite-time control strategy is proposed based on a new designed sliding mode control technique to track the desired attitude in finite time. Some assumptions of knowing system parameters are canceled. Finally, the stability of the closed-loop system is proved via Lyapunov Theory. Simulations are performed to show the effectiveness and superiority of the proposed control scheme.