کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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5004462 | 1461199 | 2015 | 16 صفحه PDF | دانلود رایگان |
This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method.
Journal: ISA Transactions - Volume 56, May 2015, Pages 86-101