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Adaptive predefined-time Attitude Tracking Control for Quadrotor Using a Novel Terminal Sliding Mode Approach

Journal of Beijing Institute of Technology 2024年第6期33卷 530-546页

作者： Tianshuo Ge Tengshuo Dong Baihai Zhang Fenxi Yao School of Automation Beijing Institute of TechnologyBeijing 100081China

This paper proposes an adaptive predefined-time terminal sliding mode control(APTSMC)scheme for attitude tracking control of a *** create this,an adaptive predefined-time stability controller based on a terminal sliding mode is *** upper bound of convergence time in the proposed scheme can be adjusted by the explicit parameters during the design process of the *** addition,it is proved that the attitude tracking error will converge within two periods of the preset *** two periods are set between two ranges:From the initial values to the sliding mode surface and from the sliding mode surface to the region near the ***,an adaptive law is adopted to eliminate unknown external disturbances and the effects of the uncertainties in the quadrotor model,so it is unnecessary to require the prior knowledge of the upper bound of the *** results are produced and comparative case studies are carried out to demonstrate that the proposed scheme has faster convergence speed and smaller tracking errors.

关键词： predefined-time quadrotor attitude tracking control adaptive terminal sliding mode

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Distributed Adaptive predefined-time Bipartite Containment Algorithm for Nonlinear Multi-Agent Systems with Actuator Faults

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Journal of Electronic Research and Application 2024年第6期8卷 15-25页

作者： Honghao Wu Yancheng Agricultural College Yancheng 224051Jiangsu ProvinceChina

Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator *** communication topology of multi-agent systems is fixed and *** ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults,the sliding mode method is *** protocol for multi-agent systems demonstrates its ***,simulations are provided to verify the effectiveness of the proposed algorithm.

关键词： Actuator faults Adaptive bipartite containment control Nonlinear multi-agent systems predefined-time

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Adaptive Command Filtered predefined-time Fuzzy Control of Nonlinear Systems

Adaptive Command Filtered Predefined-Time Fuzzy Control of N...

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第43届中国控制会议

作者： Yaling Jiang Yakun Su Mathematical Sciences Bohai University

This paper investigates command filter-based predefined-time adaptive fuzzy control problem for strict-feedback nonlinear systems. A predefined-time adaptive control mechanism is developed by combining command filter to handle the problem of complexity explosion. An improved command filtering compensation mechanism is presented to compensate the errors generated by the filter. Fuzzy logic systems(FLSs) are exploited to estimate uncertain functions in control ***,by designing appropriate parameters,the presented control method guarantees that all signals in the closed-loop system are predefined-time bound and the tracking errors converge to a compact set close to origin. Finally,a simulation example proves the validity of presented control mechanism.

关键词： Adaptive control predefined-time Command filter Backstepping control technique Fuzzy logic systems

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