控制理论(社会学)
滑模控制
趋同(经济学)
姿态控制
计算机科学
收敛速度
有界函数
模式(计算机接口)
倾斜(摄像机)
非线性系统
稳健性(进化)
工程类
数学
控制工程
控制(管理)
物理
人工智能
基因
操作系统
频道(广播)
机械工程
数学分析
量子力学
生物化学
经济
化学
经济增长
计算机网络
作者
Li Yu,Guang He,Xiangke Wang,Shulong Zhao
标识
DOI:10.1109/tie.2021.3118556
摘要
In this article, we address the problem of robust fixed-time attitude stabilization for tilt trirotor unmanned aerial vehicle subjects to parameter uncertainties and external disturbances. First, a novel fixed-time stable system with a faster convergence rate is proposed. Second, a nonsingular fixed-time sliding mode surface is developed, which has better convergence performance than existing methods. Third, a continuous fast fixed-time sliding mode control law is proposed by applying the developed sliding mode surface and adaptive technique. As a result, the convergence time of the closed-loop system is bounded and independent of the initial conditions. Simulation and experiments are presented to verify that the proposed scheme can effectively and rapidly achieve attitude stabilization while maintaining high control precision and robustness.
科研通智能强力驱动
Strongly Powered by AbleSci AI