IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v11y2023i12p2732-d1172785.html
   My bibliography  Save this article

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft Using Global Fast Terminal Sliding Mode Control

Author

Listed:
  • Xiongfeng Deng

    (Key Laboratory of Electric Drive and Control of Anhui Higher Education Institutes, Anhui Polytechnic University, Wuhu 241000, China)

  • Yiqing Huang

    (Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China)

  • Binzi Xu

    (Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China)

  • Liang Tao

    (Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China)

Abstract

In this work, the position and attitude tracking finite-time adaptive control problem of a type of vertical take-off and landing (VTOL) aircraft system is studied. Here, the dynamic of the VTOL aircraft is subjected to external disturbances and unknown nonlinearities. Firstly, radial basis function neural networks are introduced to approximate these unknown nonlinearities, and adaptive weight update laws are proposed to replace unknown ideal weights. Secondly, for the errors generated in the approximation process and the external disturbances of the aircraft system, adaptive parameter update laws are presented. After that, based on the designed global fast terminal sliding mode control functions and adaptive update laws, we present the position tracking control laws and the roll angle control law. Then, based on this, the adaptive global fast terminal sliding control laws for the given aircraft system are finally obtained. Meanwhile, the stability of the aircraft control system is proven by using Lyapunov stability theory and designed adaptive control laws. It is not only ensured that the outputs of the aircraft system can track the given trajectories, but also ensured that the tracking errors can converge to approximately zero within a finite time. Finally, the validity of the designed adaptive control laws is verified through three numerical examples. It can be obtained that the finite-time tracking problems of the given aircraft system can be achieved at 18.8766 s and 14.6340 s under the given parameters. The results are consistent with the theoretical analysis. In addition, under the control laws proposed in this work, the aircraft system can achieve tracking after 9.443 s and 9.674 s and the tracking errors are basically close to zero, which is significantly superior to other control methods considered in this work.

Suggested Citation

  • Xiongfeng Deng & Yiqing Huang & Binzi Xu & Liang Tao, 2023. "Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft Using Global Fast Terminal Sliding Mode Control," Mathematics, MDPI, vol. 11(12), pages 1-22, June.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:12:p:2732-:d:1172785
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/11/12/2732/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/11/12/2732/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Liu, Hao & Li, Zenghua & Miao, Guodong & Yang, Jingjing & Wu, Xiangqiang & Li, Jiahui, 2023. "Insight into the chemical reaction process of coal during the spontaneous combustion latency," Energy, Elsevier, vol. 263(PB).
    2. Mohammed Yousri Silaa & Mohamed Derbeli & Oscar Barambones & Ali Cheknane, 2020. "Design and Implementation of High Order Sliding Mode Control for PEMFC Power System," Energies, MDPI, vol. 13(17), pages 1-15, August.
    3. Qijia Yao, 2021. "Robust constrained trajectory tracking control for a PVTOL aircraft subject to external disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(12), pages 2617-2629, September.
    4. Shanwei Su & Yan Lin, 2015. "Output tracking control for a velocity-sensorless VTOL aircraft with measurement delays," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(5), pages 885-895, April.
    5. Khan, Wakeel & Lin, Yan & Ullah Khan, Sarmad & Ullah, Nasim, 2018. "Quantized adaptive decentralized control for interconnected nonlinear systems with actuator faults," Applied Mathematics and Computation, Elsevier, vol. 320(C), pages 175-189.
    6. Ruizi Ma & Guoshan Zhang, 2018. "Sliding mode tracking control with differential evolution optimisation algorithm using integral-chain differentiator in uncertain nonlinear systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(6), pages 1345-1352, April.
    7. Ruixia Liu & Lei Xing & Hong Deng & Weichao Zhong, 2023. "Finite-Time Adaptive Fuzzy Control for Unmodeled Dynamical Systems with Actuator Faults," Mathematics, MDPI, vol. 11(9), pages 1-22, May.
    8. Mohammed Yousri Silaa & Mohamed Derbeli & Oscar Barambones & Cristian Napole & Ali Cheknane & José María Gonzalez De Durana, 2021. "An Efficient and Robust Current Control for Polymer Electrolyte Membrane Fuel Cell Power System," Sustainability, MDPI, vol. 13(4), pages 1-18, February.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Mohamed Derbeli & Asma Charaabi & Oscar Barambones & Cristian Napole, 2021. "High-Performance Tracking for Proton Exchange Membrane Fuel Cell System PEMFC Using Model Predictive Control," Mathematics, MDPI, vol. 9(11), pages 1-17, May.
    2. Muhammad Majid Gulzar, 2023. "Maximum Power Point Tracking of a Grid Connected PV Based Fuel Cell System Using Optimal Control Technique," Sustainability, MDPI, vol. 15(5), pages 1-18, February.
    3. Liu, Hao & Li, Zenghua & Yang, Yongliang & Miao, Guodong, 2023. "Study on the thermal behavior of coal during the spontaneous combustion latency," Energy, Elsevier, vol. 281(C).
    4. Chen, Jian & Lu, Yi & Tang, Guoxin & Yang, Yuxuan & Shao, Shuzhen & Ding, Yangwei, 2023. "Research and prevention of upper remaining coal spontaneous combustion induced by air leakage in multi-inclination regenerated roof: A case study in the Luwa coal mine, China," Energy, Elsevier, vol. 275(C).
    5. Pawel Latosinski & Andrzej Bartoszewicz, 2023. "Sliding Mode Controllers in Energy Systems and Other Applications," Energies, MDPI, vol. 16(3), pages 1-4, January.
    6. Wu, Jing & Sun, Wei & Su, Shun-Feng & Xia, Jianwei, 2022. "Neural-based adaptive control for nonlinear systems with quantized input and the output constraint," Applied Mathematics and Computation, Elsevier, vol. 413(C).
    7. Xu, Yao & Chu, Chenyin & Li, Wenxue, 2018. "Quantized feedback control scheme on coupled systems with time delay and distributed delay: A finite-time inner synchronization analysis," Applied Mathematics and Computation, Elsevier, vol. 337(C), pages 315-328.
    8. Mohammed Yousri Silaa & Oscar Barambones & José Antonio Cortajarena & Patxi Alkorta & Aissa Bencherif, 2023. "PEMFC Current Control Using a Novel Compound Controller Enhanced by the Black Widow Algorithm: A Comprehensive Simulation Study," Sustainability, MDPI, vol. 15(18), pages 1-23, September.
    9. Fredy A. Valenzuela & Reymundo Ramírez & Fermín Martínez & Onofre A. Morfín & Carlos E. Castañeda, 2020. "Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence," Energies, MDPI, vol. 13(22), pages 1-15, November.
    10. Khlid Ben Hamad & Doudou N. Luta & Atanda K. Raji, 2021. "A Grid-Tied Fuel Cell Multilevel Inverter with Low Harmonic Distortions," Energies, MDPI, vol. 14(3), pages 1-24, January.
    11. Liu, Qiqi & Sun, Lulu & Zhang, Yanbo & Liu, Zhenyi & Ma, Jiayu, 2023. "Effects of water immersion and pre-oxidation on re-ignition characteristics of non-caking coal," Energy, Elsevier, vol. 282(C).
    12. Mohamed Derbeli & Cristian Napole & Oscar Barambones & Jesus Sanchez & Isidro Calvo & Pablo Fernández-Bustamante, 2021. "Maximum Power Point Tracking Techniques for Photovoltaic Panel: A Review and Experimental Applications," Energies, MDPI, vol. 14(22), pages 1-31, November.
    13. Javaid, Usman & Mehmood, Adeel & Iqbal, Jamshed & Uppal, Ali Arshad, 2023. "Neural network and URED observer based fast terminal integral sliding mode control for energy efficient polymer electrolyte membrane fuel cell used in vehicular technologies," Energy, Elsevier, vol. 269(C).
    14. Napole, Cristian & Derbeli, Mohamed & Barambones, Oscar, 2021. "A global integral terminal sliding mode control based on a novel reaching law for a proton exchange membrane fuel cell system," Applied Energy, Elsevier, vol. 301(C).
    15. Ma, Dazhong & Wang, Tianbiao & Zhang, Huaguang & Xie, Xiangpeng, 2021. "Adaptive fault-tolerant output regulation of linear systems with unknown dynamics and actuator faults," Applied Mathematics and Computation, Elsevier, vol. 402(C).
    16. Li, Jinhu & Lu, Wei & Wang, Yang & Li, Jinliang & Yang, Yongliang, 2023. "Effect of organic carboxylates in coal on the production of active sites and coal self-ignition behavior," Energy, Elsevier, vol. 282(C).
    17. Ma, Jiali & Park, Ju H. & Xu, Shengyuan & Cui, Guozeng & Yang, Zhichun, 2020. "Command-filter-based adaptive tracking control for nonlinear systems with unknown input quantization and mismatching disturbances," Applied Mathematics and Computation, Elsevier, vol. 377(C).
    18. Jiao Xu & Tao Song & Jiaxin Wang, 2024. "Finite-Time Fuzzy Fault-Tolerant Control for Nonlinear Flexible Spacecraft System with Stochastic Actuator Faults," Mathematics, MDPI, vol. 12(4), pages 1-25, February.
    19. Wu, Li-Bing & Wang, Heng & He, Xi-Qin & Zhang, Da-Qing, 2018. "Decentralized adaptive fuzzy tracking control for a class of uncertain large-scale systems with actuator nonlinearities," Applied Mathematics and Computation, Elsevier, vol. 332(C), pages 390-405.
    20. Mohammed Yousri Silaa & Mohamed Derbeli & Oscar Barambones & Cristian Napole & Ali Cheknane & José María Gonzalez De Durana, 2021. "An Efficient and Robust Current Control for Polymer Electrolyte Membrane Fuel Cell Power System," Sustainability, MDPI, vol. 13(4), pages 1-18, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:11:y:2023:i:12:p:2732-:d:1172785. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.