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

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

Applied Mathematics and Computation, 2023, vol. 449, issue C

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.

Keywords: Fixed-time control; Multiple QUAVs; Quantized input; Command filtered backstepping (search for similar items in EconPapers)
Date: 2023
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:449:y:2023:i:c:s0096300323001029

DOI: 10.1016/j.amc.2023.127933

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