Adaptive sliding mode disturbance observer–based funnel trajectory tracking control of quadrotor with external disturbances

Abstract

This paper studies trajectory tracking control problem of quadrotor in the presence of external disturbances. A new control scheme integrating adaptive sliding mode disturbance observer (ASMDO) with backstepping funnel control is designed in both position loop and attitude loop. Adaptive sliding mode disturbance observer is utilized to estimate and compensate the external disturbances of quadrotor system, which relaxed the upper bound requirement in conventional sliding mode disturbance observer (SMDO) whilst adapting the gain of discontinuous term to a level as small as possible for consideration of chattering mitigation. The modified funnel function not only guarantees the dynamic quality in the tracking process but also avoids derivative operation of Euclidian norm of tracking error in the backstepping design. To guarantee stabilization of closed-loop system, Lyapunov stability criterion is utilized in the overall controller design process. Finally, the effectiveness and superiority of the proposed scheme are illustrated by simulation results.

Dynamic observer‐basedH∞ robust control for a ducted coaxial‐rotor UAV

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Disturbance Observer-Based Sliding Mode Control for MEMS with Prescribed Performance

“…Funnel Control. From [27,28], funnel control strategy can not only ensure the stability of the controlled system but also make the tracking error evolve within a prespecified performance funnel. Define the bounded domain of the performance funnel as…”

Control of UAV quadrotor using reinforcement learning and robust controller

“…In reference [10], a robust backstepping‐based approach was proposed for trajectory tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties. A new control scheme integrating adaptive sliding mode disturbance observer with backstepping control was designed in reference [11] to deal with the problem of quadrotor in the presence of external disturbances. The robust $${H_\infty }$$ networked security observer‐based reference tracking control scheme was proposed for quadrotor UAV with external disturbances and intrinsic random perturbations [12].…”