Research On Finite-Time Adaptive Control Of Quadrotor UAV For High-Rise Buildings

With the acceleration of urbanization,the number of high-rise buildings has increased dramatically,bringing tremendous pressure and challenges to high-rise building firefighting.Traditional firefighting equipment has the problems of “difficult to enter,slow to unfold and out of reach”,and firefighters carrying heavy equipment to the building will consume a lot of physical strength.The structure of high-rise buildings is complex,and there are many people inside.If the fire cannot be extinguished in time,it is easy to form a “chimney effect” to make the fire develop and spread rapidly,which results in significant casualties and property losses.The fire problem in high-rise buildings has become a primary problem in the field of firefighting.With the advantages of flexible flight and comprehensive vision,the quadrotor unmanned aerial vehicle(UAV)can reconnoitre fires in the air and extinguish the fires directly,which has a broad application prospect in high-rise building firefighting.Considering the complexity environment of high-rise building fires and the preciousness of firefighting time,this paper concentrates on the high-performance control requirements of the quadrotor UAV for high-rise building firefighting.Some finite-time adaptive control schemes for the quadrotor UAV are proposed to solve the basic theoretical problem of its application in high-rise building firefighting.The specific research contents are as follows:(1)The problem of finite-time adaptive trajectory tracking control is studied for the quadrotor UAV with quantized input.Under the premise that the priori information of quantization parameters is unknown,by combining with finite-time command filtered technique and backstepping design method,the finite-time adaptive quantized control scheme for quadrotor UAV is proposed.The issue of “explosion of complexity” is overcome and the effect of filtered error is eliminated.The proposed control scheme ensures that all signals of the closed-loop system are finite-time bounded,and the attitude tracking error and position tracking error converge to a sufficiently small neighborhood near the origin in a finite time.The simulation results illustrate the effectiveness and superiority of the proposed control scheme.(2)The problem of finite-time prescribed performance adaptive trajectory tracking control for the quadrotor UAV is considered to satisfy the predefined performance requirements.Based on the finite-time command filtered backstepping design method,the finite-time prescribed performance adaptive control strategy is given for the quadrotor UAV,where a finite-time prescribed performance function is utilized to convert the tracking error.The proposed control strategy guarantees that all signals of the closed-loop system are finite-time bounded,and the attitude tracking error and position tracking error are always kept within the predefined performance bounds.The simulation results demonstrate the feasibility and superiority of the presented control strategy.(3)The problem of finite-time adaptive event-triggered control is investigated for the quadrotor UAV with limited communication and computational resources.The relative threshold event-triggered mechanism is constructed to reduce the control signal update frequency and save computational resources.By using the command filtered backstepping technique,a finite-time adaptive event-triggered controller is designed to ensure finite-time boundedness of all signals in the closed-loop system,and the position tracking error and attitude tracking error converge to a sufficiently small neighborhood near the origin in a finite time.The simulation results indicate the effectiveness and superiority of the proposed control strategy.