دورية أكاديمية
Distributed Dynamic Surface Control for a Class of Quadrotor UAVs with Input Saturation and External Disturbance
| العنوان: | Distributed Dynamic Surface Control for a Class of Quadrotor UAVs with Input Saturation and External Disturbance |
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| المؤلفون: | Guoqiang Zhu, Laiping Lv, Lingfang Sun, Xiuyu Zhang |
| المصدر: | Drones, Vol 8, Iss 3, p 77 (2024) |
| بيانات النشر: | MDPI AG, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Motor vehicles. Aeronautics. Astronautics |
| مصطلحات موضوعية: | quadrotor UAVs, input saturated, Nussbaum gain technology, adaptive dynamic surface control, disturbance observer, Motor vehicles. Aeronautics. Astronautics, TL1-4050 |
| الوصف: | An adaptive dynamic surface trajectory tracking control method based on the Nussbaum function is proposed for a class of quadrotor UAVs encountering unknown external disturbances and unidentified nonlinearities. By transforming controller expressions into numerical solutions, the challenge of overly complex controller design expressions is addressed, simplifying the overall controller design process and enhancing the efficiency of simulation programs. Additionally, an adaptive controller based on Nussbaum gain is introduced to effectively resolve actuator saturation issues. This approach mitigates complexities associated with traditional control design and ensures smooth operation of the quadrotor UAVs. The proposed methodology offers promising prospects for enhancing the robustness and performance of quadrotor UAVs under uncertain operating conditions. Finally, to validate the effectiveness of the proposed control scheme, a hardware-in-the-loop experimental setup is constructed. The dynamic model of the quadrotor UAVs and the proposed controller scheme are implemented on the Rapid Control Prototype (RCP) and Real-Time Simulator (RTS), respectively. This facilitates a semi-physical simulation experiment, providing a basis for the subsequent application of the control scheme to actual aerial vehicles. The concluding experimental results affirm the effectiveness of the proposed control scheme and highlight its potential for practical applications. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2504-446X 98330373 |
| Relation: | https://www.mdpi.com/2504-446X/8/3/77; https://doaj.org/toc/2504-446X |
| DOI: | 10.3390/drones8030077 |
| URL الوصول: | https://doaj.org/article/95e9e972dd954f36b983303739ab7e9b |
| رقم الأكسشن: | edsdoj.95e9e972dd954f36b983303739ab7e9b |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 2504446X 98330373 |
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| DOI: | 10.3390/drones8030077 |