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Volume 11 Issue 5
May  2024

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Y. Yuan, H. Duan, and  Z. Zeng,  “Prescribed performance evolution control for quadrotor autonomous shipboard landing,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1151–1162, May 2024. doi: 10.1109/JAS.2024.124254
Citation: Y. Yuan, H. Duan, and  Z. Zeng,  “Prescribed performance evolution control for quadrotor autonomous shipboard landing,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 5, pp. 1151–1162, May 2024. doi: 10.1109/JAS.2024.124254

Prescribed Performance Evolution Control for Quadrotor Autonomous Shipboard Landing

doi: 10.1109/JAS.2024.124254
Funds:  This work was partially supported by Science and Technology Innovation 2030-Key Project of “New Generation Artificial Intelligence” (2018AAA0100803), the National Natural Science Foundation of China (62350048, T2121003, U1913602, 91948204, U20B2071), and the Academic Excellence Foundation of BUAA for Ph.D. Students
More Information
  • The shipboard landing problem for a quadrotor is addressed in this paper, where the ship trajectory tracking control issue is transformed into a stabilization control issue by building a relative position model. To guarantee both transient performance and steady-state landing error, a prescribed performance evolution control (PPEC) method is developed for the relative position control. In addition, a novel compensation system is proposed to expand the performance boundaries when the input saturation occurs and the error exceeds the predefined threshold. Considering the wind and wave on the relative position model, an adaptive sliding mode observer (ASMO) is designed for the disturbance with unknown upper bound. Based on the dynamic surface control framework, a shipboard landing controller integrating PPEC and ASMO is established for the quadrotor, and the relative position control error is guaranteed to be uniformly ultimately bounded. Simulation results have verified the feasibility and effectiveness of the proposed shipboard landing control scheme.


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    • Evolution path theory and prescribed performance control are incorporated for the first time and are presented as prescribed performance evolution control in this paper. The error state has a more specific reference convergence trajectory by designing an appropriate evolution path, such that the convergence time and convergence rate of the error state can be planned
    • The PPF is designed for the residual between the error state and the evolution path in PPEC. The initial error state is on the designed evolution path in PPEC, and the design of the PPF is independent of the initial error state. By choosing a PPF with a smaller initial value, the residual between the error state and the evolution path can only fluctuate over a smaller range
    • A second-order performance function compensation system that can autonomously adjust the boundary is designed to handle the fragility of the PPC. The main novelty of the proposed compensation system is that the control error and input have been taken into consideration in the PPF
    • Aiming at the shipboard landing mission, PPEC is adopted for the relative position control, adaptive sliding mode observer is designed for the lumped disturbance with unknown bound, and auxiliary systems are equipped to handle the input saturation problem. It has been proved that the relative position tracking error is uniformly ultimately bounded with Lyapunov function


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