Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input

doi:10.1016/j.amc.2023.127933

Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input

2023-07-01

8

PRE

AI

DOI：10.1016/j.amc.2023.127933

Original

Original request for help

Save

Abstract

En 中文

This article investigates the problem of fixed-time distributed adaptive attitude control for multiple quadrotor unmanned aerial vehicles (QUAVs) in the presence of quantized input. A fixed-time command filter is embedded into the standard backstepping recursive de-sign to overcome the explosion of complexity (EOC) problem. The nonsmooth error com-pensation signals are constructed to eliminate the influence of filtered error. Furthermore, the singularity problem is completely addressed via the well-designed piecewise function. By introducing the hysteresis quantizer, not only the data transmission burden but also the chattering phenomenon is attenuated. It is strictly proved that the closed-loop sys-tem is practically fixed-time stable and all the signals of closed-loop system are fixed-time bounded, as well as the synchronization tracking errors converge to a sufficiently small residual set in a fixed time. Finally, simulation examples are implemented to verify the ef-fectiveness and superiority of the developed fixed-time distributed attitude control strat-egy.(c) 2023 Elsevier Inc. All rights reserved.

Keywords:

Fixed -time control

Multiple QUAVs

Quantized input

Command filtered backstepping

Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input

Abstract

Journal

Organization