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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
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    References listed on IDEAS

    as
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