Liu, K., Yang, P. orcid.org/0000-0002-8553-7127, Wang, R. et al. (3 more authors) (2023) Observer-based adaptive fuzzy finite-time attitude control for quadrotor UAVs. IEEE Transactions on Aerospace and Electronic Systems, 59 (6). pp. 8637-8654. ISSN 0018-9251
Abstract
This study presents an observer-based adaptive fuzzy finite-time attitude control strategy for quadrotor unmanned aerial vehicles (UAVs). To estimate the information of angular velocity with the finite-time property, an adaptive neural network observer is first developed. Subsequently, an adaptive fuzzy logic system (FLS)-based nonsingular fast terminal sliding mode controller is proposed to compensate for the lumped disturbance and adjust the control gain online. To cope with the input saturation, an auxiliary system without the boundedness of the saturation difference is constructed. The theoretical analysis proves that all the system signals are bounded and the tracking errors can converge to small neighbourhoods in finite time. Finally, comparative simulations and experiments are performed to manifest the feasibility and superiority of the proposed control strategy, in terms of strong robustness, singularity avoidance, free-chattering, fault tolerance, and saturation attenuation.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 The Authors. Except as otherwise noted, this author-accepted version of a journal article published in IEEE Transactions on Aerospace and Electronic Systems is made available via the University of Sheffield Research Publications and Copyright Policy under the terms of the Creative Commons Attribution 4.0 International License (CC-BY 4.0), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ |
Keywords: | Attitude control; finite-time convergence; fuzzy logic system (FLS); input saturation; quadrotor UAVs |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Funding Information: | Funder Grant number SCIENCE AND TECHNOLOGY FACILITIES COUNCIL (STFC) FOOD NETWORK+ UNSPECIFIED |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 25 Aug 2023 11:19 |
Last Modified: | 04 Oct 2024 14:23 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/TAES.2023.3308552 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:202647 |
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Filename: Observer-Based Adaptive Fuzzy Finite-Time Attitude Control for Quadrotor UAVs.pdf
Licence: CC-BY 4.0