Disturbance observer based hierarchical control of coaxial-rotor UAV

Mokhtari, Mohammed; Cherki, Brahim; Braham, Amal Choukchou

doi:10.1016/j.isatra.2017.01.020

Cited by 78 publications

(35 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Under the DOB control framework, a hierarchical controller based on a finite-time convergence observer is developed to solve the path tracking of a small coaxial-rotor-type UAV despite unknown aerodynamic efforts. 24 However, these techniques based on DOBs are only available in the presence of full-state measurements.…”

Section: Introductionmentioning

confidence: 99%

Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer

Shao

Liu

Cao

et al. 2018

Intl J Robust & Nonlinear

187

View full text Add to dashboard Cite

KEYWORDS dynamic surface control (DSC), explosion of complexity, extended state observer (ESO), quadrotor unmanned aerial vehicle (UAV), unmeasurable velocity statesRecently, the control of a quadrotor unmanned aerial vehicle (UAV) has received considerable attention from the research community due to its significant characteristics in rapid maneuverability, precise hovering, and low-cost manufacturability with reduced mechanical complexity, thereby providing a well-suited mission platform for a variety of applications from military and civilian scenarios, including small-area monitoring, surveillance, detection in restricted terrains, and reconnaissance and mapping after disasters. [1][2][3] However, how to develop an effective robust flight controller that performs well in practice while ensuring asymptotic stability in theory is still a significant challenge because of the following essential reasons. 4 (i) The quadrotor UAV only 2700 Damping matrices = diag(k x ,k y ,k z ) = diag(0.01, 0.01, 0.01) Nms 2 = diag(k ,k ,k ) = diag(0.012, 0.012, 0.012) Nms 2 J Inertial matrix J = diag(J 1 ,J 2 ,J 3 ) = diag(0.016, 0.016, 0.016) kgm 2 l Distance from each rotor 0.4 m to the center of mass c Force-to-moment factor 0.05

show abstract

Section: Introductionmentioning

confidence: 99%

Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer

Shao

Liu

Cao

et al. 2018

Intl J Robust & Nonlinear

187

View full text Add to dashboard Cite

show abstract

“…The reference attitude vector is defined as

Λ_{d} = false[ϕ_{d}, θ_{d}, ψ_{d} false]^{T}

, where

ψ_{d}

is directly generated by the command signal generator. Solving (19), the reference signals

θ_{d}

ϕ_{d}

and the main rotor control input

T_{m r}

can be obtained as [40]

\begin{matrix} right left right left right left right left right left right left0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em3pt \\ θ_{d} = \arctan \frac{E_{11} C_{ψ_{d}} + E_{12} S_{ψ_{d}}}{E_{13}} \end{matrix}

\begin{matrix} right left right left right left right left right left right left0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em3pt \\ ϕ_{d} = \arctan \frac{C_{θ_{d}} (E_{11} S_{ψ_{d}} - E_{12} C_{ψ_{d}})}{E_{13}} \end{matrix}

\begin{matrix} right left right left right left right left right left right left0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em 2em 0.278em3pt \\ T_{m r} = - \frac{{\overset{false^}{a}}_{1} m E_{13}}{C_{ϕ_{d}} C_{θ_{d}}} \end{matrix}

Remark 4 Reviewing the research ...…”

Section: Adaptive Eso and Ftc Scheme Designsmentioning

confidence: 99%

Extended state observer‐based sliding mode fault‐tolerant control for unmanned autonomous helicopter with wind gusts

Yan

Jiang

2019

IET Control Theory & Applications

View full text Add to dashboard Cite

“…Furthermore, it should be noted that the external disturbances are inevitable in the flight formation control under various flight environments [31, 32]. To compensate for the negative effects of external disturbances, the disturbance‐observer‐based method has been widely utilised in recent years [33–39]. For instance, in [36], the disturbance‐observer‐based method was employed to tackle the robust attitude control for near space vehicles with variable disturbances.…”

Section: Introductionmentioning

confidence: 99%

Dynamic event‐triggered cooperative formation control for UAVs subject to time‐varying disturbances

Lili

2020

IET Control Theory & Appl

View full text Add to dashboard Cite

Disturbance observer based hierarchical control of coaxial-rotor UAV

Cited by 78 publications

References 22 publications

Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer

Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer

Extended state observer‐based sliding mode fault‐tolerant control for unmanned autonomous helicopter with wind gusts

Dynamic event‐triggered cooperative formation control for UAVs subject to time‐varying disturbances

Contact Info

Product

Resources

About