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W3020712585 abstract "A high-precision prescribed-time guidance law is developed for a quadrotor to accomplish precise path following at predesigned time T. Firstly, a new control structure is proposed for a quadrotor to perform fixed-velocity back-to-turn flying mode by introducing four controllers, which can realize a non-sideslip and bank-to-turn flight scheme just like a fixed-wing unmanned aerial vehicle. Then, prescribed-time guidance law is presented based on fixed-velocity back-to-turn flying mode via combining sliding mode control with a compensation function [Formula: see text] to improve tracking precision of conventional methods. Compensation function [Formula: see text] is designed to make state error achieve convergence at prescribed time exactly. Meanwhile, global sliding mode is established to enhance robustness of the system. Then, the stability and characteristic of prescribed-time convergence are proved strictly. Finally, simulations with a 6-degree-of-freedom quadrotor model are carried out to demonstrate the effectiveness and superiority of prescribed-time guidance law by comparing with traditional guidance law." @default.
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W3020712585 date "2020-03-01" @default.
W3020712585 modified "2023-09-27" @default.
W3020712585 title "High-precision prescribed-time path following for quadrotor" @default.
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W3020712585 doi "https://doi.org/10.1177/1729881420920058" @default.
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