A decoupling control for quadrotor UAV using dynamic surface control and sliding mode disturbance observer

Lin, Xiaobo; Yao, Yu; Sun, Changyin

doi:10.1007/s11071-019-05013-6

Cited by 46 publications

(13 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Recently, the disturbances observer based control (DOBC) method [8] has attracted wide attentions due to its fast disturbance rejection ability [9]. Inspired by the conception of DOBC, many composite trajectory tracking methods have been developed for the trajectory tracking of quadrotor UAVs such as the composite PID control method based on linear disturbance observer [10], the active disturbance rejection method based on extended state observer [11], the composite dynamic surface control method based on sliding mode observer [12], etc. These composite control methods not only obtain strong disturbance rejection ability in the presence disturbances but also guarantee the nominal performance of baseline controller.…”

Section: Introductionmentioning

confidence: 99%

High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

et al. 2020

View full text Add to dashboard Cite

This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem are divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the es-

show abstract

Section: Introductionmentioning

confidence: 99%

High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

et al. 2020

View full text Add to dashboard Cite

show abstract

“…The existence of disturbance may make the system chattering, and even cause the system instability. 8,9 Therefore, the robustness of the system to disturbance is necessary. Because of its insensitivity to disturbance, sliding mode control was commonly used in the unmanned helicopter control system.…”

Section: Introductionmentioning

confidence: 99%

An adaptive anti‐swing control for the helicopter slung‐load system based on trajectory planning and neural network

Wei

2022

Adaptive Control & Signal

View full text Add to dashboard Cite

In this article, an adaptive anti‐swing control method based on trajectory planning and radial basis function neural network (RBFNN) is proposed for the unmanned helicopter slung‐load system with the external disturbances and the continuous system uncertainty. An online trajectory planning method is designed to obtain the desired position, velocity, and acceleration signals of the unmanned helicopter. Then, combining with RBFNN and sliding mode control method, the position loop controller of the unmanned helicopter is designed to make the swing angle stable, and the unmanned helicopter can also track the desired trajectory. The attitude loop controller is designed by sliding mode backstepping method and RBFNN. In the process of controller design, the adaptive laws are designed to adjust the influence of approximation error of RBFNN and the external disturbance. The stability of the closed‐loop system is proved by Lyapunov analysis. Numerical simulation results show that the proposed control strategy is effective.

show abstract

“…However, backstepping control only provides sufficient stability when the disturbances are relatively constant or vary slowly over time. SMC utilizes a high-frequency switching control signal to enforce the system trajectories on the sliding surface, which has been studied for control of different underactuated systems [18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

Zhou

Yao

Liu

et al. 2021

Mathematical Problems in Engineering

View full text Add to dashboard Cite

In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.

show abstract

A decoupling control for quadrotor UAV using dynamic surface control and sliding mode disturbance observer

Cited by 46 publications

References 34 publications

High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

An adaptive anti‐swing control for the helicopter slung‐load system based on trajectory planning and neural network

Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

Contact Info

Product

Resources

About