Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles
The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error an...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2022/5875004 |
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| _version_ | 1850166001082040320 |
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| author | Qiang Han Yongshuai Zhou Xin Liu Xianguo Tuo |
| author_facet | Qiang Han Yongshuai Zhou Xin Liu Xianguo Tuo |
| author_sort | Qiang Han |
| collection | DOAJ |
| description | The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm. |
| format | Article |
| id | doaj-art-e49a72a702ca40c4b55b26c5f25b24a2 |
| institution | OA Journals |
| issn | 1754-2103 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-e49a72a702ca40c4b55b26c5f25b24a22025-08-20T02:21:34ZengWileyApplied Bionics and Biomechanics1754-21032022-01-01202210.1155/2022/5875004Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial VehiclesQiang Han0Yongshuai Zhou1Xin Liu2Xianguo Tuo3Robot Technology Used for Special Environment Key Laboratory of Sichuan ProvinceArtificial Intelligence Key Laboratory of Sichuan ProvinceArtificial Intelligence Key Laboratory of Sichuan ProvinceArtificial Intelligence Key Laboratory of Sichuan ProvinceThe finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm.http://dx.doi.org/10.1155/2022/5875004 |
| spellingShingle | Qiang Han Yongshuai Zhou Xin Liu Xianguo Tuo Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles Applied Bionics and Biomechanics |
| title | Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles |
| title_full | Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles |
| title_fullStr | Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles |
| title_full_unstemmed | Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles |
| title_short | Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles |
| title_sort | event triggered finite time attitude cooperative control for multiple unmanned aerial vehicles |
| url | http://dx.doi.org/10.1155/2022/5875004 |
| work_keys_str_mv | AT qianghan eventtriggeredfinitetimeattitudecooperativecontrolformultipleunmannedaerialvehicles AT yongshuaizhou eventtriggeredfinitetimeattitudecooperativecontrolformultipleunmannedaerialvehicles AT xinliu eventtriggeredfinitetimeattitudecooperativecontrolformultipleunmannedaerialvehicles AT xianguotuo eventtriggeredfinitetimeattitudecooperativecontrolformultipleunmannedaerialvehicles |