Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles
Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretel...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Wang, Guodong [verfasserIn] Wang, Xiangyu [verfasserIn] Li, Shihua [verfasserIn] Lu, Kunfeng [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2024 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| Übergeordnetes Werk: |
Enthalten in: Nonlinear dynamics - Springer Netherlands, 1990, 112(2024), 10 vom: 09. Apr., Seite 8229-8247 |
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| Übergeordnetes Werk: |
volume:112 ; year:2024 ; number:10 ; day:09 ; month:04 ; pages:8229-8247 |
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| DOI / URN: |
10.1007/s11071-024-09504-z |
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| Katalog-ID: |
SPR05558599X |
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| 520 | |a Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. | ||
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| 650 | 4 | |a Order supplementary |7 (dpeaa)DE-He213 | |
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| 700 | 1 | |a Wang, Xiangyu |e verfasserin |0 (orcid)0000-0002-8793-381X |4 aut | |
| 700 | 1 | |a Li, Shihua |e verfasserin |4 aut | |
| 700 | 1 | |a Lu, Kunfeng |e verfasserin |4 aut | |
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10.1007/s11071-024-09504-z doi (DE-627)SPR05558599X (SPR)s11071-024-09504-z-e DE-627 ger DE-627 rakwb eng 510 VZ 30.20 bkl Wang, Guodong verfasserin (orcid)0000-0003-3487-1106 aut Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. Quadrotor UAV (dpeaa)DE-He213 Trajectory tracking control (dpeaa)DE-He213 Finite-time control (dpeaa)DE-He213 Order supplementary (dpeaa)DE-He213 Finite-time observer (dpeaa)DE-He213 Wang, Xiangyu verfasserin (orcid)0000-0002-8793-381X aut Li, Shihua verfasserin aut Lu, Kunfeng verfasserin aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 112(2024), 10 vom: 09. Apr., Seite 8229-8247 (DE-627)315297034 (DE-600)2012600-1 1573-269X nnns volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 https://dx.doi.org/10.1007/s11071-024-09504-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER SSG-OPC-MAT GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 30.20 VZ AR 112 2024 10 09 04 8229-8247 |
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10.1007/s11071-024-09504-z doi (DE-627)SPR05558599X (SPR)s11071-024-09504-z-e DE-627 ger DE-627 rakwb eng 510 VZ 30.20 bkl Wang, Guodong verfasserin (orcid)0000-0003-3487-1106 aut Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. Quadrotor UAV (dpeaa)DE-He213 Trajectory tracking control (dpeaa)DE-He213 Finite-time control (dpeaa)DE-He213 Order supplementary (dpeaa)DE-He213 Finite-time observer (dpeaa)DE-He213 Wang, Xiangyu verfasserin (orcid)0000-0002-8793-381X aut Li, Shihua verfasserin aut Lu, Kunfeng verfasserin aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 112(2024), 10 vom: 09. Apr., Seite 8229-8247 (DE-627)315297034 (DE-600)2012600-1 1573-269X nnns volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 https://dx.doi.org/10.1007/s11071-024-09504-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER SSG-OPC-MAT GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 30.20 VZ AR 112 2024 10 09 04 8229-8247 |
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10.1007/s11071-024-09504-z doi (DE-627)SPR05558599X (SPR)s11071-024-09504-z-e DE-627 ger DE-627 rakwb eng 510 VZ 30.20 bkl Wang, Guodong verfasserin (orcid)0000-0003-3487-1106 aut Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. Quadrotor UAV (dpeaa)DE-He213 Trajectory tracking control (dpeaa)DE-He213 Finite-time control (dpeaa)DE-He213 Order supplementary (dpeaa)DE-He213 Finite-time observer (dpeaa)DE-He213 Wang, Xiangyu verfasserin (orcid)0000-0002-8793-381X aut Li, Shihua verfasserin aut Lu, Kunfeng verfasserin aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 112(2024), 10 vom: 09. Apr., Seite 8229-8247 (DE-627)315297034 (DE-600)2012600-1 1573-269X nnns volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 https://dx.doi.org/10.1007/s11071-024-09504-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER SSG-OPC-MAT GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 30.20 VZ AR 112 2024 10 09 04 8229-8247 |
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10.1007/s11071-024-09504-z doi (DE-627)SPR05558599X (SPR)s11071-024-09504-z-e DE-627 ger DE-627 rakwb eng 510 VZ 30.20 bkl Wang, Guodong verfasserin (orcid)0000-0003-3487-1106 aut Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. Quadrotor UAV (dpeaa)DE-He213 Trajectory tracking control (dpeaa)DE-He213 Finite-time control (dpeaa)DE-He213 Order supplementary (dpeaa)DE-He213 Finite-time observer (dpeaa)DE-He213 Wang, Xiangyu verfasserin (orcid)0000-0002-8793-381X aut Li, Shihua verfasserin aut Lu, Kunfeng verfasserin aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 112(2024), 10 vom: 09. Apr., Seite 8229-8247 (DE-627)315297034 (DE-600)2012600-1 1573-269X nnns volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 https://dx.doi.org/10.1007/s11071-024-09504-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER SSG-OPC-MAT GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 30.20 VZ AR 112 2024 10 09 04 8229-8247 |
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10.1007/s11071-024-09504-z doi (DE-627)SPR05558599X (SPR)s11071-024-09504-z-e DE-627 ger DE-627 rakwb eng 510 VZ 30.20 bkl Wang, Guodong verfasserin (orcid)0000-0003-3487-1106 aut Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. Quadrotor UAV (dpeaa)DE-He213 Trajectory tracking control (dpeaa)DE-He213 Finite-time control (dpeaa)DE-He213 Order supplementary (dpeaa)DE-He213 Finite-time observer (dpeaa)DE-He213 Wang, Xiangyu verfasserin (orcid)0000-0002-8793-381X aut Li, Shihua verfasserin aut Lu, Kunfeng verfasserin aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 112(2024), 10 vom: 09. Apr., Seite 8229-8247 (DE-627)315297034 (DE-600)2012600-1 1573-269X nnns volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 https://dx.doi.org/10.1007/s11071-024-09504-z X:SPRINGER Resolving-System lizenzpflichtig Volltext SYSFLAG_0 GBV_SPRINGER SSG-OPC-MAT GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 30.20 VZ AR 112 2024 10 09 04 8229-8247 |
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Enthalten in Nonlinear dynamics 112(2024), 10 vom: 09. Apr., Seite 8229-8247 volume:112 year:2024 number:10 day:09 month:04 pages:8229-8247 |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">SPR05558599X</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20240420064736.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">240420s2024 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s11071-024-09504-z</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR05558599X</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s11071-024-09504-z-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">510</subfield><subfield code="q">VZ</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">30.20</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Wang, Guodong</subfield><subfield code="e">verfasserin</subfield><subfield code="0">(orcid)0000-0003-3487-1106</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2024</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Quadrotor UAV</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Trajectory tracking control</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Finite-time control</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Order supplementary</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Finite-time observer</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Wang, Xiangyu</subfield><subfield code="e">verfasserin</subfield><subfield code="0">(orcid)0000-0002-8793-381X</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Li, Shihua</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Lu, Kunfeng</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Nonlinear dynamics</subfield><subfield code="d">Springer Netherlands, 1990</subfield><subfield code="g">112(2024), 10 vom: 09. 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Wang, Guodong |
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Wang, Guodong ddc 510 bkl 30.20 misc Quadrotor UAV misc Trajectory tracking control misc Finite-time control misc Order supplementary misc Finite-time observer Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles |
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order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles |
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Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles |
| abstract |
Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstractGer |
Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstract_unstemmed |
Abstract This paper investigates the finite-time position trajectory tracking control problem of quadrotor unmanned aerial vehicles (UAVs). Different from the standard inner–outer-loop control scheme, the proposed finite-time controller is constructed with an order-supplementary mechanism. Concretely, some virtual extended states with second-order dynamics are utilized in the controller design of the UAV’s position-loop subsystem, to replace the original feedback part of tracking errors. Then, the adding a power integrator technique is used in the establishment of the virtual state dynamics, such that the position loop of quadrotor UAVs achieves the trajectory tracking tasks in finite time. Meanwhile, the attitude command references are directly formulated from the virtual extended states. Moreover, to deal with disturbances or unknown velocities, some finite-time observers are further combined in the proposed approach to obtain the corresponding estimates of disturbances and velocities. Compared with the existing results, the proposed order-supplementary finite-time trajectory tracking approach can remove the use of filters in the attitude command resolution and realize strict finite-time convergence. The thrust control input for the position-loop subsystem can be adjusted more flexibly by setting the initial values of the introduced virtual states. In addition, the finite-time velocity observer provided in this paper takes aerodynamic damping into account and has more accurate estimation in practice. Some simulations are given to validate the effectiveness of the proposed approach. © The Author(s), under exclusive licence to Springer Nature B.V. 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| title_short |
Order-supplementary finite-time trajectory tracking control of quadrotor unmanned aerial vehicles |
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https://dx.doi.org/10.1007/s11071-024-09504-z |
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Wang, Xiangyu Li, Shihua Lu, Kunfeng |
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10.1007/s11071-024-09504-z |
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| score |
7.399557 |