Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing  

作　　者：Yang Yuan Haibin Duan Zhigang Zeng 

机构地区：[1]State Key Laboratory of Virtual Reality Technology and Systems,the School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China [2]State Key Laboratory of Virtual Reality Technology and Systems,the School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083 [3]Virtual Reality Fundamental Research Laboratory,Department of Mathematics and Theories,Peng Cheng Laboratory,Shenzhen 518000,China [4]School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第5期1151-1162,共12页自动化学报（英文版）

基　　金：partially supported by Science and Technology Innovation 2030-Key Project of“New Generation Artificial Intelligence”(2018AAA0100803);the National Natural Science Foundation of China(62350048,T2121003,U1913602,91948204,U20B2071);the Academic Excellence Foundation of BUAA for Ph.D.Students。

摘　　要：The shipboard landing problem for a quadrotor is addressed in this paper,where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position model.To guarantee both transient performance and steady-state landing error,a prescribed performance evolution control(PPEC)method is developed for the relative position control.In addition,a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined threshold.Considering the wind and wave on the relative position model,an adaptive sliding mode observer(ASMO)is designed for the disturbance with unknown upper bound.Based on the dynamic surface control framework,a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor,and the relative position control error is guaranteed to be uniformly ultimately bounded.Simulation results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.

关 键 词：error integrating STABILIZATION 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249.1[自动化与计算机技术—控制科学与工程]