Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

Cai, Wei; She, Jinhua; Wu, Min; Ohyama, Yasuhiro

doi:10.1016/j.isatra.2019.02.028

Cited by 70 publications

(29 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Since the right-hand side of the Equation 1has discontinuous terms, their solutions are understood in the Filippov sense (see [7]). It is assumed that the full vector state of the dynamic system (1) is available for measurement; note that this assumption is not restrictive because there are several works in the literature about observers and differentiators design (see [4], [5], [6], [10], [14], and references quoted therein).…”

Section: A Considered Systemsmentioning

confidence: 99%

“…In this work, numerical results of a generalization of the set of control laws in [13] are obtained using a one-link pendulum as a testbed. A PD control law is added to the set of controllers (6) in order to compensate external disturbances described by Equation (4). A sketch of the main results of this paper will be developed in the following sections.…”

Section: B Mathematical Backgroundmentioning

confidence: 99%

“…In this section a new strict nonsmooth Lyapunov function is proposed to show finite-time convergence of the trajectories of the perturbed system (5) to the point (x, y) = (0, 0) in spite of external perturbations bounded by inequality (4).…”

Section: B the Perturbed Systemmentioning

confidence: 99%

See 2 more Smart Citations

Robustness Analysis of a Set of Second Order Sliding Modes

Santiesteban¹,

Carretero²

2020

Progress in Canadian Mechanical Engineering. Volume 3

View full text Add to dashboard Cite

In this paper, a set of second order sliding mode controllers affected by disturbances with linear and nonlinear growth is under study. Mechanical systems described using a double integrator affected by external perturbations are considered in this work. A preliminary study shows that, using a nonsmooth strict Lyapunov function, it is possible to ensure finite-time stability and estimate the convergence time of the closed loop system in spite of disturbances that grow linearly and nonlinearity with respect to the state. The performance and robustness properties of the feedback synthesis are illustrated with numerical experiments solving the tracking problem for a one-link pendulum as a test system. Three experiments are carried out: the nominal system, the system affected by nonvanishing perturbations and the system affected by linearly and nonlinearity growing perturbations with respect to the state.

show abstract

Section: A Considered Systemsmentioning

confidence: 99%

Section: B Mathematical Backgroundmentioning

confidence: 99%

See 1 more Smart Citation

Robustness Analysis of a Set of Second Order Sliding Modes

Santiesteban¹,

Carretero²

2020

Progress in Canadian Mechanical Engineering. Volume 3

View full text Add to dashboard Cite

show abstract

“…Many studies of extended sliding mode control have been published to overcome the effects of chattering phenomenon, parameter uncertainties, and external disturbances. In [21,22], sliding mode control with disturbance observer was proposed for rejecting the effect of the unknown disturbance in the quadrotor while achieving the performance of attitude control and disturbance suppression. In [23,24] backstepping sliding mode control technique was presented to accomplish quadrotor altitude, attitude and trajectory tracking control performance.…”

Section: Introductionmentioning

confidence: 99%

Modified Adaptive Sliding Mode Control for Trajectory Tracking of Mini-drone Quadcopter Unmanned Aerial Vehicle

Chaoraingern¹,

Tipsuwanporn²,

Numsomran³

2020

IJIES

View full text Add to dashboard Cite

Unmanned Aerial Vehicles are among the most widely attracting interest, especially in the applications of transportation, inspection, and surveillance. The great mechanisms for motion control are set to become a vital factor in performing the robust and accurate stabilized flight relied on perturbations and disturbances. This paper presents modified adaptive sliding mode control for trajectory tracking of mini-drone quadcopter unmanned aerial vehicles, which aims at demonstrating the effectiveness of nonlinear adaptive control strategy for achieving the desired performance of the mini-drone quadcopter system. Besides providing mathematical modeling and nonlinear dynamic characteristic details of mini-drone quadcopter actuated system, the modified adaptive sliding mode algorithm is developed using adaptation law based on Lyapunov stability approach then applied on the attitude loop and the altitude loop control system so that the nonlinear adaptive behavior of the controller enables the compensation of disturbances and parameter perturbations. The effectiveness validations of the proposed control technique compared with the traditional approach are performed through the Matlab simulation. The results have been illustrated that the modified adaptive sliding mode control can decrease the error performance indexes to the minimum ISE at 1.041 m 2 and the zero percentage of overshoot while enables excellent stability and robustness even in the presence of parameter perturbations and disturbance.

show abstract

“…(1) Compared with the neural networks (NN)-based observers [30]- [33], [50], [51] and the nonlinear ESO [59]- [62] requiring the multiple states information and complex nonlinear coefficients, the LESO employed in the control scheme is intuitively designed based on the state feedback, and the tuning operation is rather simple since linear observer parameters are utilized. (2) Rather than the nonlinear disturbances observers [45]- [49], [64]- [67] and other ESO [59]- [63] based on the position feedback, the 2 nd -order LESO with velocity feedback is developed. In practice, the velocity information is easily acquired, which is more accurate and reliable, especially for the multi-rotor UAVs.…”

Section: Introductionmentioning

confidence: 99%

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Zhang

Deng

et al. 2019

IEEE Access

View full text Add to dashboard Cite

A nonlinear robust and adaptive backstepping control strategy is hierarchically proposed to solve the trajectory tracking problem of hexacopter UAVs. Due to the under-actuated and coupled properties of the hexacopter dynamics, the nominal backstepping control approach is fully designed as the main controller. Considering the model uncertainties and external disturbances perturbing the system stability, a robust 2 nd-order linear extended state observer (LESO) with more reliable velocity feedback is devised to observe and suppress the instabilities, and peaking phenomena in the observation are removed. Usually, large observer gains are selected to reduce the tracking errors but will amplify the measurement noise. To further enhance the system robustness, an adaptive switching function based compensator is introduced to eliminate the observation errors, through which the requirement on large observer gains is relaxed, and high gain behaviors of the LESO are avoided. Stability analysis proves that the nonlinear control scheme can ensure the hexacopter UAV asymptotic tracking along the designated trajectory. Comparative simulations under different controllers are carried out to demonstrate the efficiency and superiority of the proposed control scheme. INDEX TERMS Hexacopter UAV, trajectory tracking, robust backstepping control, 2 nd-order LESO, hierarchical compensators.

show abstract

Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

Cited by 70 publications

References 30 publications

Robustness Analysis of a Set of Second Order Sliding Modes

Robustness Analysis of a Set of Second Order Sliding Modes

Modified Adaptive Sliding Mode Control for Trajectory Tracking of Mini-drone Quadcopter Unmanned Aerial Vehicle

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Contact Info

Product

Resources

About