| Autor: |
Lulu Chen, Zhenbao Liu, Qingqing Dang, Wen Zhao, Wenyu Chen |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Defence Technology, Vol 39, Iss , Pp 53-66 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2214-9147 |
| DOI: |
10.1016/j.dt.2024.04.009 |
| Popis: |
This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle (UAV) in the presence of parameter uncertainties, unmodeled uncertainties and wind disturbances. First, a fixed-time disturbance observer (FXDO) based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model. Then, a fixed-time integral sliding mode control (FXISMC) is combined with the FXDO to achieve strong robustness and chattering reduction. Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability. Finally, numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances. In addition, the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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