A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences
This article develops a novel unknown system dynamic estimator-based funnel control scheme for nonlinear quadrotor attitude regulation with preassigned convergence subject to parametric uncertainties and external perturbations. An invariant manifold equipped with first-order filtering is established...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/3576996 |
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| _version_ | 1849306150333317120 |
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| author | Yanping Gao Shiyu Zhen Lihong Zhang Zuojun Liu |
| author_facet | Yanping Gao Shiyu Zhen Lihong Zhang Zuojun Liu |
| author_sort | Yanping Gao |
| collection | DOAJ |
| description | This article develops a novel unknown system dynamic estimator-based funnel control scheme for nonlinear quadrotor attitude regulation with preassigned convergence subject to parametric uncertainties and external perturbations. An invariant manifold equipped with first-order filtering is established. To online identify the lump disturbances, an unknown system dynamic estimator is employed with a simple formula, which need a lower computation burden. Based on aforementioned estimator, a novel funnel control via utilizing funnel variable is investigated, where an exponentially decaying funnel function is preset with a prior preassigned convergence for regulation angle error. The angle tracking errors are proved to be ultimately uniformly bounded, and angle regulation error can evolve within the preset funnel boundary. Simulation results demonstrate the effectiveness of the developed control scheme. |
| format | Article |
| id | doaj-art-384d1fd57ca948d58d8372f444cc94bd |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-384d1fd57ca948d58d8372f444cc94bd2025-08-20T03:55:11ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/3576996A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned ConvergencesYanping Gao0Shiyu Zhen1Lihong Zhang2Zuojun Liu3School of Artificial IntelligenceSchool of Mechanical Electronic & Information EngineeringSchool of Physics and Electronic Engineering in Shanxi UniversitySchool of Artificial IntelligenceThis article develops a novel unknown system dynamic estimator-based funnel control scheme for nonlinear quadrotor attitude regulation with preassigned convergence subject to parametric uncertainties and external perturbations. An invariant manifold equipped with first-order filtering is established. To online identify the lump disturbances, an unknown system dynamic estimator is employed with a simple formula, which need a lower computation burden. Based on aforementioned estimator, a novel funnel control via utilizing funnel variable is investigated, where an exponentially decaying funnel function is preset with a prior preassigned convergence for regulation angle error. The angle tracking errors are proved to be ultimately uniformly bounded, and angle regulation error can evolve within the preset funnel boundary. Simulation results demonstrate the effectiveness of the developed control scheme.http://dx.doi.org/10.1155/2022/3576996 |
| spellingShingle | Yanping Gao Shiyu Zhen Lihong Zhang Zuojun Liu A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences International Journal of Aerospace Engineering |
| title | A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences |
| title_full | A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences |
| title_fullStr | A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences |
| title_full_unstemmed | A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences |
| title_short | A Novel Nonlinear Quadrotor Attitude Regulation with Disturbances and Preassigned Convergences |
| title_sort | novel nonlinear quadrotor attitude regulation with disturbances and preassigned convergences |
| url | http://dx.doi.org/10.1155/2022/3576996 |
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