A Moving Target Tracking Control of Quadrotor UAV Based on Passive Control and Super-Twisting Sliding Mode Control
Open Access
- 11 May 2021
- journal article
- research article
- Published by Hindawi Limited in Mathematical Problems in Engineering
- Vol. 2021, 1-17
- https://doi.org/10.1155/2021/6627495
Abstract
A novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle (UAV) is proposed to solve a moving target tracking problem. Firstly, the control system is decoupled into the position control system and the attitude control system. Secondly, a method combined artificial potential field with passivity control (APF&PC) is introduced for the positioning system to achieve high-precision tracking of moving target at a fixed distance. Thirdly, a super-twisting sliding mode (STSM) method with an improved reaching law for the attitude system is applied to ensure that the attitude converges to the desired value. Furthermore, the stabilities of two subsystems are proved, and sufficient stability conditions are derived based on the passive method and Lyapunov method, respectively. Finally, simulation results of the moving target tracking verify the superiority and robustness of the proposed control method in the presence of parameter uncertainties and external disturbances.Keywords
Funding Information
- National Natural Science Foundation of China (61903163, 19KJB510023, HZ20200007)
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