A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control | Zendy

Wentao Xue | Zendy; Xunnan Zhu | Zendy; Xiaofei Yang | Zendy; Hui Ye | Zendy; Xuan Chen | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control

Author(s) -

Wentao Xue,

Xunnan Zhu,

Xiaofei Yang,

Hui Ye,

Xuan Chen

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/6627495

Subject(s) - control theory (sociology) , underactuation , robustness (evolution) , lyapunov function , position tracking , tracking (education) , sliding mode control , lyapunov stability , passivity , controller (irrigation) , computer science , engineering , control engineering , control (management) , artificial intelligence , actuator , nonlinear system , physics , psychology , pedagogy , biochemistry , chemistry , agronomy , quantum mechanics , biology , electrical engineering , gene

A novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle (UAV) is proposed to solve a moving target tracking problem. Firstly, the control system is decoupled into the position control system and the attitude control system. Secondly, a method combined artificial potential field with passivity control (APF&PC) is introduced for the positioning system to achieve high-precision tracking of moving target at a fixed distance. Thirdly, a super-twisting sliding mode (STSM) method with an improved reaching law for the attitude system is applied to ensure that the attitude converges to the desired value. Furthermore, the stabilities of two subsystems are proved, and sufficient stability conditions are derived based on the passive method and Lyapunov method, respectively. Finally, simulation results of the moving target tracking verify the superiority and robustness of the proposed control method in the presence of parameter uncertainties and external disturbances.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research