Fixed-time nonlinear homogeneous sliding mode approach for robust tracking control of multirotor aircraft: Experimental validation |
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| Institution: | 1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China;2. Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, University of Electronic and Technology of China, Chengdu 611731, China;3. Department of Computer Science and Technology, Faculty of Science and Engineering, University of Hull, HU6 7RX, UK;1. LAJ, Faculty of Science and Technology, University of Jijel, BP. 98, Ouled Aissa, 18000, Jijel, Algeria;2. LER, Faculty of Sciences and Technology, University of Jijel, BP 98, Ouled Aissa, 18000, Jijel, Algeria;1. College of Science, Liaoning University of Technology, Jinzhou, Liaoning, 121001, P. R. China;2. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, 110819, P. R. China;3. School of Automation Science and Engineering, South China University of Technology, 510641, Guangzhou, China;4. Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education, and also with Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong;5. Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, Liaoning, 110016, P. R. China;1. School of Science, Yanshan University, Qinhuangdao, 066004, China;2. Ocean College, Hebei Agricultural University, Qinhuangdao, 066003, China;3. School of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China;1. Department of Electronics and Communications Engineering, De La Salle University, 2401 Taft Ave., Manila, 0922, Philippines;2. Electronics Engineering Department, University of Santo Tomas, Espana Blvd., Sampaloc, Manila,1008, Philippines;3. Tokyo City University, 1-28-1 Tamazutsumi, Setagaya, Tokyo, 158-8557, Japan;1. School of Mathematics and Statistics, Shandong University of Technology, Zibo 255000, China;2. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, 266590, China |
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| Abstract: | This paper presents a robust scheme for fixed-time tracking control of a multirotor system. The aircraft is subjected to matched lumped disturbances, i.e., unmodeled dynamics, parameters uncertainties, and external perturbations besides measurement noise. Firstly, a novel Nonlinear Homogeneous Continuous Terminal Sliding Manifold (NHCTSM) based on the weighted homogeneity theory is presented. The sliding manifold is designed with prescribed dynamics featuring Global Asymptotic Stability (GAS) and fixed-time convergence. Then, a novel Fixed-time Non-switching Homogeneous Nonsingular Terminal Sliding Mode Control (FNHNTSMC) is proposed for the position and attitude loops by employing the developed NHCTSM and an appropriate reaching law. Moreover, the control framework incorporates a disturbance observer to feedforward and compensate for the disturbances. The designed control scheme can drive the states of the system to the desired references in fixed-time irrespective of the values of the Initial Conditions (ICs). Since the existing works on homogeneous controllers rely on the bi-limit homogeneity concept in the convergence proofs, the estimate of the settling-time or its upper-bound cannot be given explicitly. In contrast, this study employs Lyapunov Quadratic Function (LQF) and Algebraic Lyapunov Equation (ALE) in the stability analysis of both controller and observer. Following this method, an expression of the upper-bound of the settling-time is explicitly derived. Furthermore, to assure the Uniform Ultimate Boundedness (UUB) of all signals in the feedback system, the dynamics of the observer and controller are jointly analyzed. Simulations and experiments are conducted to quantify the control performance. The proposed approach achieves superior performance compared with recent literature on fixed-time/finite-time control and a commercially available PID controller. The comparative results witness that the developed control scheme improves the convergence-time, accuracy, and robustness while overcoming the singularity issue and mitigating the chattering effect of conventional SMC. |
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