Abstract
The fixed-time trajectory tracking problem of a quadrotor with six degrees of freedom (6-DOF) under bounded disturbances is investigated in this paper. The split-loop design method which divides the quadrotor into position subsystem and attitude subsystem is adopted. Next, the nonsingular fixed-time controllers are developed and both the inner and outer loop can track the expected trajectory within fixed-time. The settling time depends only on the selected control parameters and is independent of the system’s initial state. The stability of the entire system is proved. Finally, the simulation studies based on the quadrotor model illustrate the robustness of the designed fixed-time controller.
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Acknowledgements
This work is supposed by the National Natural Science Foundation of China under Grants 61703134, 61703135, 61773151, 61803143 and 61871173, the Natural Science Foundation of Tianjin under Grant 17JCQNJC04400, the Natural Science Foundation of Hebei Province under Grants F2019202369, F2018202279, and No. F2019202363), Youth Foundation of Hebei Educational Committee under (No. QN2018140), Graduate Innovation Foundation of Hebei Province under Grant 220056.
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Wang, J., Ma, X., Zhang, G., Zhang, Y., Miao, Q. (2020). Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft. In: Wang, R., Chen, Z., Zhang, W., Zhu, Q. (eds) Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019). Lecture Notes in Electrical Engineering, vol 582. Springer, Singapore. https://doi.org/10.1007/978-981-15-0474-7_39
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DOI: https://doi.org/10.1007/978-981-15-0474-7_39
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