Adaptive Fuzzy Sliding-Mode Fixed-Time Control for Quadrotor Unmanned Aerial Vehicles With Prescribed Performance

In this article, an adaptive fuzzy fixed-time sliding-mode formation control scheme with prescribed performance is proposed for quadrotor unmanned aerial vehicles (UAVs) under uncertainties and external disturbances. First of all, for the position subsystem and attitude subsystem, in order to achieve the formation goal, the desired position and attitude of UAVs are generated by adaptive control method based on their neighbors' information. Second, a nonsingular fixed-time sliding-mode manifold incorporating with the prescribed performance function is put forward to achieve the predefined convergence performance, which has a faster convergence rate than the traditional counterpart and reduce the chattering phenomenon in the traditional counterpart. Then, in the design of the controller, adaptive fuzzy approximation characteristics are utilized to handle unknown terms, and the Lyapunov stability theory is used to analyze the fixed time stability of the closed-loop system. Finally, the performance of proposed algorithms is demonstrated by simulation results.

I. Introduction

With the continuous maturity of unmanned aerial vehicle (UAV) technology, the UAV has been widely used in civil fields due to its small size, light weight, strong adaptability, high concealment, and low risk factor. UAVs have found diverse applications in the civilian sector, including environmental and meteorological monitoring, resource exploration, forest fire prevention, and artificial rainfall initiatives [1], [2], [3]. However, as the tasks carried out by future UAVs become increasingly complex, the ability and survivability of a single UAV are restricted, making it difficult to ensure the successful completion of the tasks of UAVs. It is important to note that multiple UAVs can realize the mission capability expansion of a single UAV through capability complementarity and action coordination, thus improving the overall effectiveness. Therefore, UAV formation technology comes into being under this background [4], [5], [6], [7], [8].