Disturbance Observer Based Tracking Control of Quadrotor With High-Order Disturbances

Abstract

In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development of disturbance observer (DO) based tracking control scheme. To obtain the desired tracking performance, standard sliding mode control (SMC) method is utilized while for disturbance estimation, DO based on Simpson's approximation is developed and incorporated with SMC. Furthermore, in this paper, both matched and mismatched disturbances are considered. Hence, a matrix associated with disturbances is invoked in the system model. To show the effective and desired control performance of developed disturbance observer-based control (DOBC) scheme, extensive simulations are conducted, followed by presenting the results in the paper.

An Online Adaptive Control Strategy for Trajectory Tracking of Quadrotors Based on Fuzzy Approximation and Robust Sliding Mode Algorithm

“…According to the virtual variables in , , Eq. (3)(4)(5)(6)(7)(8)(9)(10)(11), (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13) and (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14), for parameters 1 > 1 , 3 > 2 , 1 > 3 , where 1 , 2 and 3 is the upper bound of disturbance 1 ( , , . ), 2 ( , , .…”

“…This is especially true for the electromechanical actuators. With these problems in mind, it has become greatly important to design an efficient controller with satisfactory trajectory-tracking accuracy and robust performance for quadrotors under such model uncertainties and external disturbances [3][4][5][6].…”

“…Coordinate systems for quadrotor UAVs According to Newton mechanics and the Newton-Lagrange equation, dynamic equations of the quadrotor with respect to the inertial coordinates can be generally expressed as[4][5][6]12] …”

Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor

“…Furthermore, recent trends of research on the control of quadrotor emphasize achieving robustness against unexpected perturbations. Some recent trends towards robust control of MUAV cover, for example, adaptive backstepping control [11], integral backstepping sliding mode control (SMC) [12], adaptive fuzzy gain-scheduling SMC [13], adaptive hierarchical SMC [14], disturbance observer-based robust tracking control [15]. A novel second-order SMC is proposed for a class of sliding dynamics under an upper-triangular structure and finite-time stability is achieved [16].…”

Optimal Disturbance Observer Design for High Tracking Performance in Motion Control Systems

“…The flight control of an unmanned aerial vehicle has high-order disturbances. To achieve the desired tracking performance, the disturbance is estimated by a DO based on Simpson's approximation [10]. A novel second-order fixed-time sliding-mode control, based on a fixed-time sliding-mode DO for a small-scale unmanned helicopter, was developed for hovering in the presence of external disturbances [11].…”