Work

Predefined time trajectory tracking control and hardware in loop verification for quadrotor UAV under input delay and disturbances

Year: 2025

Type: article

Abstract: This paper deals with the predefined time trajectory tracking control of quadrotor unmanned aerial vehicle (UAV) system in the presence of input delay and external disturbances. By combining the backstepping with the predefined time nonlinear disturbance observer, the uncertainty caused by the external disturbance is eliminated, enabling the UAV to reach the control target within a predefined time. Moreover, in order to compensate for the impact of the control input delay, an appropriate auxiliary system is introduced. Simulation and hardware‐in‐the‐loop (HIL) experimental are carried out to show the effectiveness of the proposed control scheme.

Source: Asian Journal of Control

DOI: 10.1002/asjc.3557

Authors: Shuo Li, Na Duan, Hailong Pei

Institutions: Key Laboratory of Autonomous Systems and Network Control, Ministry of Education, South China University of Technology, Jiangsu Normal University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Aeronautical Science Foundation of China, National Key Research and Development Program of China, Fundamental Research Funds for the Central Universities

Awards: G2045002325, G2834454934, G2898231544