Adaptive constrained backstepping controller with prescribed performance methodology for carrier-based UAV
| Autor: | Wen-hai Wu, Bin Chang, Yang Zhang, Sheng-hai Wang |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science Aerospace Engineering 02 engineering and technology Tracking (particle physics) 01 natural sciences 010305 fluids & plasmas Compensation (engineering) Computer Science::Robotics Tracking error Nonlinear system symbols.namesake 020901 industrial engineering & automation Control theory Backstepping 0103 physical sciences symbols Transient (oscillation) |
| Zdroj: | Aerospace Science and Technology. 92:55-65 |
| ISSN: | 1270-9638 |
| DOI: | 10.1016/j.ast.2019.05.032 |
| Popis: | A novel adaptive constrained backstepping control with prescribed performance methodology for carrier-based unmanned aerial vehicle (UAV) in the presence of uncertainties, input constraints and unknown external disturbances is presented in this paper. This controller can guarantee the compensation tracking errors of the carrier-based UAV with prescribed performance including the steady and transient performance. Firstly, a new transformed system based on the compensation tracking errors, not the traditional tracking errors, is designed. Secondly, to deal with the UAV input constraints, the constrained command filters is introduced and the auxiliary dynamic is designed to eliminate the effect of input saturation. Thirdly, the prescribed performance methodology is introduced and the transient performance of the compensation tracking error is analyzed. It is proved that the proposed controller guarantees that all the signals of the closed-loop system are bounded by using Lyapunov method. Finally, the 6-DOF nonlinear carrier-based UAV model is used to demonstrate the effectiveness of the proposed control law. The simulation results show that the proposed controller is able to provide accurate tracking and satisfy the prescribed performance with unknown aerodynamic parameters, input constraints and external disturbances environment. |
| Databáze: | OpenAIRE |
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