TY - JOUR
T1 - Adaptive finite-time backstepping control tracker for quadrotor UAV with model uncertainty and external disturbance
AU - Wang, Jianghua
AU - Alattas, Khalid A.
AU - Bouteraa, Yassine
AU - Mofid, Omid
AU - Mobayen, Saleh
N1 - Publisher Copyright:
© 2022 Elsevier Masson SAS
PY - 2023/2
Y1 - 2023/2
N2 - In this study, for the purpose of finite-time tracking control of quad-rotor Unmanned Aerial Vehicle (UAV) system under modeling uncertainties and external disturbances, an adaptive command-filtered backstepping sliding mode control scheme is presented. At first, a state-space model of quad-rotor's system is considered in the existence of bounded model uncertainties and exterior perturbations. Then, a command-filter according to the virtual control input is planned to reduce the computing complications. Subsequently, the output of command filter is considered instead of high-order derivative of virtual input. Besides, in order to remove the differential signals which are obtained during design of command-filter, the compensation error is used. Afterward, the sliding surfaces are designed according to tracking errors which are defined between actual states of the quad-rotor, desired values and compensation error system. Furthermore, backstepping control procedure combined with Lyapunov stability theory is used for finite-time convergence of switching surface. Besides, the adaptive control strategy is applied to estimate the upper bound of uncertainty and disturbance which is unknown in advance. At last, in order to validate the high efficacy of the designed control scheme, simulation results based on the actual parameters of quadrotor are provided. In addition, the comparison outcomes are provided to show proficiency and validity of the recommended technique compared with the existing method.
AB - In this study, for the purpose of finite-time tracking control of quad-rotor Unmanned Aerial Vehicle (UAV) system under modeling uncertainties and external disturbances, an adaptive command-filtered backstepping sliding mode control scheme is presented. At first, a state-space model of quad-rotor's system is considered in the existence of bounded model uncertainties and exterior perturbations. Then, a command-filter according to the virtual control input is planned to reduce the computing complications. Subsequently, the output of command filter is considered instead of high-order derivative of virtual input. Besides, in order to remove the differential signals which are obtained during design of command-filter, the compensation error is used. Afterward, the sliding surfaces are designed according to tracking errors which are defined between actual states of the quad-rotor, desired values and compensation error system. Furthermore, backstepping control procedure combined with Lyapunov stability theory is used for finite-time convergence of switching surface. Besides, the adaptive control strategy is applied to estimate the upper bound of uncertainty and disturbance which is unknown in advance. At last, in order to validate the high efficacy of the designed control scheme, simulation results based on the actual parameters of quadrotor are provided. In addition, the comparison outcomes are provided to show proficiency and validity of the recommended technique compared with the existing method.
KW - Adaptive control
KW - Backstepping control
KW - Finite-time tracking
KW - Quad-rotor UAV
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85146099610&partnerID=8YFLogxK
U2 - 10.1016/j.ast.2022.108088
DO - 10.1016/j.ast.2022.108088
M3 - Article
AN - SCOPUS:85146099610
SN - 1270-9638
VL - 133
JO - Aerospace Science and Technology
JF - Aerospace Science and Technology
M1 - 108088
ER -