A Disturbance Observer-Based Intelligent Finite-Time Sliding Mode Flight Controller Design for an Autonomous Quadrotor

Tripathi, Vibhu Kumar; Yogi, Subhash Chand; Kamath, Archit Krishna; Behera, Laxmidhar; Verma, Nishchal K.; Nahavandi, Saeid

doi:10.1109/jsyst.2021.3078826

Cited by 15 publications

(11 citation statements)

References 30 publications

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“…DOBC offers a feasible method for reducing the negative influence from external disturbance and internal uncertainty by utilizing the estimated disturbance from the DOB and feed it forward to the control signal of an electromechanical system (Choi et al 2003;Chen et al 2016). DOBC has been applied to many real-world systems, e.g., permanent magnet synchronous motors (PMSM) (Dai et al 2021), missile seekers (Sadhu & Ghoshal 2011), unmanned aerial vehicles (UAV) (Huang & Chen 2022;Tripathi et al 2022), overhead cranes (Wu et al 2020), ship-mounted tower cranes (Qian & Fang 2019), cars with an active suspension system (Pan et al 2016), and dualflexible manipulators with a telescopic arm (Shang et al 2022). For generating a compensation control signal based on the estimated disturbance, most research on designing DOBC (Sadhu & Ghoshal 2011;Pan et al 2016;Qian & Fang 2019;Wu et al 2020;Huang & Chen 2022;Shang et al 2022;Tripathi et al 2022) simply assume that the control signal (i.e., the output of the controller instead of the actuator) and the disturbance signal are of the same type (e.g., both are torques or both are forces).…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

Chen,

Wang

2023

Res. Astron. Astrophys.

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Leighton Chajnantor Telescope (LCT), i.e., the former Caltech Submillimeter Observatory (CSO) telescope, will be refurbished at the new site in Chajnantor Plateau, Chile, in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbance directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT’s pointing control since existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer - based composite position controller (DOB-CPC) is designed, in which an H∞ feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy (CSP) is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller (i.e., DOB-CPC) for rejecting the disturbance acting on LCT.

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Section: Introductionmentioning

confidence: 99%

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

Chen,

Wang

2023

Res. Astron. Astrophys.

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“…This compensator do not require a priori information about the saturation errors and is simple to adjust the parameter, thus offsetting the effect of the actual saturation error and ensuring that the system consumes less energy by suppressing unreasonably high gain inputs based on the bounded ideal control inputs. (ii) Compared with the existing scheme of TSMC combined with nonlinear disturbances observers, 29,30 this paper employs not only the observer to compensate for disturbances, but also the adaptive method to compensate for the unknown upper bound of the observer error. The robustness to unmodeled dynamics and external disturbances of the system is further enhanced and the chattering caused by switching control gains is further attenuated.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the existing scheme of TSMC combined with nonlinear disturbances observers, 29,30 this paper employs not only the observer to compensate for disturbances, but also the adaptive method to compensate for the unknown upper bound of the observer error. The robustness to unmodeled dynamics and external disturbances of the system is further enhanced and the chattering caused by switching control gains is further attenuated.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

Wei

Jiang

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper designs the double closed-loop control system combining nonlinear disturbances observers (NDOB) and an adaptive fast nonsingular terminal sliding mode (AFNTSM) for the tracking control problem of quadrotor under external disturbances, actuator saturation and unmodeled dynamics. The NDOB-AFNTSM method avoids the singularity problem. To compensate for disturbances, an adaptive strategy estimates the unknown bound of NDOB errors and the unknown bound of disturbances. Besides, new fast reaching law shortens convergence times. The dead zone method is chosen to avoid over-estimation and system divergence. Considering actuator saturation, this paper uses an anti-saturation auxiliary compensator to compensate for unknown saturation errors. System stability is confirmed by the Lyapunov direct method. The simulation results reveal that the proposed method improves convergence speed and accuracy, which is more robuster than similar methods. Finally, two comparative studies for performance indexes in simulation demonstrate the preferable performance of the proposed method.

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“…Literature 39 proposed sliding mode control strategy for linear impulse systems with matched perturbations that ensured the sliding surface's reachability in finite‐time and the reduced‐order impulse system's stability under sliding motion. In Reference 40, a control strategy based on non‐singular terminal sliding mode and perturbation observer was designed to achieve finite‐time convergence of the closed‐loop system while avoiding the non‐singularity problem for the quadrotor position attitude tracking problem with perturbations. Article 41 investigated the finite‐time convergence of teleoperation with time delays and perturbations and proposed finite‐time terminal sliding mode control strategy for achieving finite‐time convergence of the estimation error as well as the sliding mode surface.…”

Section: Introductionmentioning

confidence: 99%

Adaptive time‐varying formation control for teleoperation system: A finite‐time approach

2022

Adaptive Control & Signal

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In this article, the finite-time formation control scheme is put forward for teleoperation system with time delay. First, a group of finite-time observers are established to address the teleoperation system with time-varying delay issue and via linearly parameterize to deal with the uncertainty in the system. The theory of self-stable domain (SSR) is then applied to provide sufficient circumstances for the observers error dynamics to converge in finite-time. Then, in line with the estimation of time delay derivatives to reconstruct the regression matrix as well as the adaptive law, the observer based time-varying formation control protocol is drawn up. On the basis of finite-time state-independent input-to-output practical stable (FTSIIOpS) theorem, sufficient conditions for teleoperation implement time-varying formation are developed. Finally, simulation is being used to validate the efficiency of the proposed strategy. K E Y W O R D Sfinite-time control, teleoperation system, time delay observer, time-varying formation INTRODUCTIONWith the advancement of automation and robotics, teleoperation system can extend the ability of human operators to work in remote, unstructured, and dangerous environments, with applications in vast areas such as nuclear exploration, medico-surgery, subsea exploration, and military operations. 1 Teleoperation system consists of master-slave robots linked 750

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A Disturbance Observer-Based Intelligent Finite-Time Sliding Mode Flight Controller Design for an Autonomous Quadrotor

Cited by 15 publications

References 30 publications

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

Adaptive time‐varying formation control for teleoperation system: A finite‐time approach

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