Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles
Quadcopters have become a unmanned aerial vehicle class playing essential roles in a wide range of real-world applications. Many missions in such applications require the quadcopter’s attitude to converge to given setpoints in a fixed time. However, existing controllers deliver fixed-time...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10769092/ |
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| author | Xuan Nguyen Sun Myung Won Truong Dong do Sung Kyung Hong |
| author_facet | Xuan Nguyen Sun Myung Won Truong Dong do Sung Kyung Hong |
| author_sort | Xuan Nguyen |
| collection | DOAJ |
| description | Quadcopters have become a unmanned aerial vehicle class playing essential roles in a wide range of real-world applications. Many missions in such applications require the quadcopter’s attitude to converge to given setpoints in a fixed time. However, existing controllers deliver fixed-time convergence at a high cost of energy consumption. This paper presents a fixed-time quadcopter attitude controller, which advances existing quadcopter control algorithms in terms of convergence speed and energy consumption. First, the quadcopter dynamics is presented. Second, based on the dynamical model, an improved fixed-time sliding mode controller is proposed. Next, the fixed-time convergence and stability of the closed-loop system are strictly analyzed by using the Lyapunov theory. Additionally, numerical simulations are conducted to verify the feasibility and efficacy of the proposed method. Through comparisons with closely related works, the effectiveness of our algorithm is emphasized. Finally, experimental results demonstrate the feasibility and applicability of our work in real-world systems. |
| format | Article |
| id | doaj-art-1d44cb3b75ab4589a39987c4e7553c55 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-1d44cb3b75ab4589a39987c4e7553c552025-08-20T02:34:56ZengIEEEIEEE Access2169-35362024-01-011219161219162210.1109/ACCESS.2024.350708610769092Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial VehiclesXuan Nguyen0https://orcid.org/0009-0006-4221-1502Sun Myung Won1https://orcid.org/0000-0001-5632-9399Truong Dong do2https://orcid.org/0000-0001-8178-0018Sung Kyung Hong3https://orcid.org/0000-0003-1143-2194Faculty of Engineering, Dong Nai Technology University, Bien Hoa City, VietnamDepartment of Aerospace Engineering, Sejong University, Seoul, South KoreaDepartment of Aerospace Engineering, Sejong University, Seoul, South KoreaDepartment of Aerospace Engineering, Sejong University, Seoul, South KoreaQuadcopters have become a unmanned aerial vehicle class playing essential roles in a wide range of real-world applications. Many missions in such applications require the quadcopter’s attitude to converge to given setpoints in a fixed time. However, existing controllers deliver fixed-time convergence at a high cost of energy consumption. This paper presents a fixed-time quadcopter attitude controller, which advances existing quadcopter control algorithms in terms of convergence speed and energy consumption. First, the quadcopter dynamics is presented. Second, based on the dynamical model, an improved fixed-time sliding mode controller is proposed. Next, the fixed-time convergence and stability of the closed-loop system are strictly analyzed by using the Lyapunov theory. Additionally, numerical simulations are conducted to verify the feasibility and efficacy of the proposed method. Through comparisons with closely related works, the effectiveness of our algorithm is emphasized. Finally, experimental results demonstrate the feasibility and applicability of our work in real-world systems.https://ieeexplore.ieee.org/document/10769092/Fixed-timeattitude trackingquadcopterunmanned aerial vehiclesenergy saving |
| spellingShingle | Xuan Nguyen Sun Myung Won Truong Dong do Sung Kyung Hong Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles IEEE Access Fixed-time attitude tracking quadcopter unmanned aerial vehicles energy saving |
| title | Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles |
| title_full | Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles |
| title_fullStr | Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles |
| title_full_unstemmed | Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles |
| title_short | Improved Fixed-Time Attitude Tracking Control for Quadcopter Unmanned Aerial Vehicles |
| title_sort | improved fixed time attitude tracking control for quadcopter unmanned aerial vehicles |
| topic | Fixed-time attitude tracking quadcopter unmanned aerial vehicles energy saving |
| url | https://ieeexplore.ieee.org/document/10769092/ |
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