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Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input

Author

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  • Cui, Guozeng
  • Xu, Hui
  • Yu, Jinpeng
  • Ma, Jiali
  • Li, Ze

Abstract

This article investigates the problem of fixed-time distributed adaptive attitude control for multiple quadrotor unmanned aerial vehicles (QUAVs) in the presence of quantized input. A fixed-time command filter is embedded into the standard backstepping recursive design to overcome the “explosion of complexity” (EOC) problem. The nonsmooth error compensation signals are constructed to eliminate the influence of filtered error. Furthermore, the singularity problem is completely addressed via the well-designed piecewise function. By introducing the hysteresis quantizer, not only the data transmission burden but also the chattering phenomenon is attenuated. It is strictly proved that the closed-loop system is practically fixed-time stable and all the signals of closed-loop system are fixed-time bounded, as well as the synchronization tracking errors converge to a sufficiently small residual set in a fixed time. Finally, simulation examples are implemented to verify the effectiveness and superiority of the developed fixed-time distributed attitude control strategy.

Suggested Citation

  • Cui, Guozeng & Xu, Hui & Yu, Jinpeng & Ma, Jiali & Li, Ze, 2023. "Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input," Applied Mathematics and Computation, Elsevier, vol. 449(C).
    • Handle: RePEc:eee:apmaco:v:449:y:2023:i:c:s0096300323001029
    DOI: 10.1016/j.amc.2023.127933
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    References listed on IDEAS

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    1. Wang, Fang & Gao, Yali & Zhou, Chao & Zong, Qun, 2022. "Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    2. Xu, Bo & Liang, Yanjun & Li, Yuan-Xin & Hou, Zhongsheng, 2022. "Adaptive command filtered fixed-time control of nonlinear systems with input quantization," Applied Mathematics and Computation, Elsevier, vol. 427(C).
    3. Zongyu Zuo & Lin Tie, 2016. "Distributed robust finite-time nonlinear consensus protocols for multi-agent systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(6), pages 1366-1375, April.
    4. Guo, Wanli & He, Wennuo & Shi, Lili & Sun, Wen & Lu, Xiaoqing, 2021. "Fixed-time consensus tracking for nonlinear stochastically disturbed multi-agent systems via discontinuous protocols," Applied Mathematics and Computation, Elsevier, vol. 400(C).
    5. Yang, Wei & Cui, Guozeng & Ma, Qian & Ma, Jiali & Tao, Chongben, 2022. "Finite-time adaptive event-triggered command filtered backstepping control for a QUAV," Applied Mathematics and Computation, Elsevier, vol. 423(C).
    Full references (including those not matched with items on IDEAS)

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