CASIA OpenIR  > 学术期刊  > IEEE/CAA Journal of Automatica Sinica
Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing
Yang Yuan; Haibin Duan; Zhigang Zeng
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:5Pages:1151-1162
AbstractThe shipboard landing problem for a quadrotor is addressed in this paper, where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position model. To guarantee both transient performance and steady-state landing error, a prescribed performance evolution control (PPEC) method is developed for the relative position control. In addition, a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined threshold. Considering the wind and wave on the relative position model, an adaptive sliding mode observer (ASMO) is designed for the disturbance with unknown upper bound. Based on the dynamic surface control framework, a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor, and the relative position control error is guaranteed to be uniformly ultimately bounded. Simulation results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.
KeywordAdaptive sliding mode observer (ASMO) dynamic surface control prescribed performance evolution control (PPEC) quadrotor shipboard landing
DOI10.1109/JAS.2024.124254
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/55705
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Yang Yuan,Haibin Duan,Zhigang Zeng. Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1151-1162.
APA Yang Yuan,Haibin Duan,&Zhigang Zeng.(2024).Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing.IEEE/CAA Journal of Automatica Sinica,11(5),1151-1162.
MLA Yang Yuan,et al."Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1151-1162.
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