High-precision prescribed-time path following for quadrotor

A high-precision prescribed-time guidance law is developed for a quadrotor to accomplish precise path following at predesigned time T. Firstly, a new control structure is proposed for a quadrotor to perform fixed-velocity back-to-turn flying mode by introducing four controllers, which can realize a non-sideslip and bank-to-turn flight scheme just like a fixed-wing unmanned aerial vehicle. Then, prescribed-time guidance law is presented based on fixed-velocity back-to-turn flying mode via combining sliding mode control with a compensation function p t to improve tracking precision of conventional methods. Compensation function p t is designed to make state error achieve convergence at prescribed time exactly. Meanwhile, global sliding mode is established to enhance robustness of the system. Then, the stability and characteristic of prescribed-time convergence are proved strictly. Finally, simulations with a 6-degree-of-freedom quadrotor model are carried out to demonstrate the effectiveness and superiority of prescribed-time guidance law by comparing with traditional guidance law.

[1]  Hong Wang,et al.  A fixed-time output feedback control scheme for double integrator systems , 2017, Autom..

[2]  Andrey Polyakov,et al.  Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems , 2012, IEEE Transactions on Automatic Control.

[3]  Yan Wan,et al.  Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances , 2020, IEEE Transactions on Cybernetics.

[4]  Randal W. Beard,et al.  Fixed Wing UAV Path Following in Wind With Input Constraints , 2014, IEEE Transactions on Control Systems Technology.

[5]  Nariman Sepehri,et al.  Attitude and position controller design and implementation for a quadrotor , 2017 .

[6]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[7]  Raza Samar,et al.  Lateral track control of UAVs using the sliding mode approach: from design to flight testing , 2015 .

[8]  Jonathan P. How,et al.  Performance and Lyapunov Stability of a Nonlinear Path Following Guidance Method , 2007 .

[9]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[10]  P. B. Sujit,et al.  Adaptive Optimal Path Following for High Wind Flights , 2011 .

[11]  Sung Kyung Hong,et al.  Simple nonlinear control of quadcopter for collision avoidance based on geometric approach in static environment , 2018 .

[12]  Rita Cunha,et al.  A nonlinear quadrotor trajectory tracking controller with disturbance rejection , 2014, 2014 American Control Conference.

[13]  Qi Chen,et al.  Trajectory-following guidance based on a virtual target and an angle constraint , 2019, Aerospace Science and Technology.

[14]  Rita Cunha,et al.  A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection , 2015, IEEE Transactions on Control Systems Technology.

[15]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[16]  Xiaogang Wang,et al.  Robust fixed-time sliding mode controller for flexible air-breathing hypersonic vehicle. , 2019, ISA transactions.

[17]  Yibin Li,et al.  Model-free control of a quadrotor using adaptive proportional derivative-sliding mode control and robust integral of the signum of the error , 2018, International Journal of Advanced Robotic Systems.

[18]  Gabriel Hugh Elkaim,et al.  L+2, an improved line of sight guidance law for UAVs , 2013, 2013 American Control Conference.

[19]  Wooyoung Jung,et al.  Unmanned Aircraft Vector Field Path Following with Arrival Angle Control , 2016, J. Intell. Robotic Syst..

[20]  Vijay Kumar,et al.  The GRASP Multiple Micro-UAV Testbed , 2010, IEEE Robotics & Automation Magazine.

[21]  Xiangyang Zhu,et al.  Development of a Quadrotor Test Bed — Modelling, Parameter Identification, Controller Design and Trajectory Generation , 2015 .

[22]  Iman Izadi,et al.  Cooperative load transportation using multiple UAVs , 2019, Aerospace Science and Technology.

[23]  Jian-Cheng Fang,et al.  An Adaptive Three-Dimensional Nonlinear Path following Method for a Fix-Wing Micro Aerial Vehicle , 2012 .

[24]  P. B. Sujit,et al.  Unmanned Aerial Vehicle Path Following: A Survey and Analysis of Algorithms for Fixed-Wing Unmanned Aerial Vehicless , 2014, IEEE Control Systems.