Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking  

作　　者：Chen AN Jiaxi ZHOU Kai WANG 

机构地区：[1]College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China [2]Department of Mechanical Engineering,The Hong Kong Polytechnic University,Hong Kong,China

出　　处：《Applied Mathematics and Mechanics(English Edition)》2024年第4期603-618,共16页应用数学和力学（英文版）

摘　　要：This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

关 键 词：aerial robot hierarchical control strategy model-free iterative sliding mode controller(MFISMC) trajectory tracking reinforcement learning 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程] V249.122.2[航空宇航科学与技术—飞行器设计]