Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter

He, Miaolei; He, Jiping

doi:10.1109/access.2018.2845134

Cited by 26 publications

(25 citation statements)

References 25 publications

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“…(ii) We devise a robust backstepping TTC algorithm to achieve the tracking control task in the presence of lumped disturbances and control input saturation. This contribution is clearly superior to the reduced-order observer based control approaches presented in [30][31][32][33][34][35][36][37][38][39][40][41][42], which can only achieve a partial solution of the robust adaptive saturated tracking control problem. To overcome the problem of "explosion of complexity", which is generally problematic in integrator backstepping control, dynamic filters (also referred to as linear tracking differentiator [49]) are applied to compute the derivative of virtual control signals.…”

Section: Introductionmentioning

confidence: 95%

“…Consider the quadrotor dynamics as described in Equation 2, for the given sufficiently smooth trajectory command P d and heading angle ψ d , if the controller gains k i (i = 1, ..., 6) and the observer bandwidth parameters ω 1 , ω 2 are chosen such that the matrix Π defined in the following is positive definite, then the ESO-based saturated trajectory tracking controller, including the virtual controllers (25), (33), (38), and (46) and the applied controllers (35) and (46), can guarantee the ultimate boundedness of all signals in the closed-loop and make the tracking errors arbitrarily small.…”

Section: Closed-loop System's Stability Analysismentioning

confidence: 99%

“…Yet another robust backstepping tracking controller using an extended state observer (ESO) to estimate unmeasurable states and disturbances from only position measurements was proposed in [34]. In [35], an ESO was used to supply estimations of internal states and external disturbances that are used by a target tracking backstepping controller and an attitude stabilized controller. The ESO has also been used in the design of controllers for a helicopter [36], fixed-wing airplane [37], spacecraft [38], and missile [39].…”

Section: Introductionmentioning

confidence: 99%

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Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Xuan-Mung

Hong

2019

Applied Sciences

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Quadrotor unmanned aerial vehicles have become increasingly popular in several applications, and the improvement of their control performance has been documented in several studies. Nevertheless, the design of a high-performance tracking controller for aerial vehicles that reliably functions in the simultaneous presence of model uncertainties, external disturbances, and control input saturation still remains a challenge. In this paper, we present a robust backstepping trajectory tracking control of a quadrotor with input saturation. The controller design accounts for both parameterized uncertainties and external disturbances, whereas a new auxiliary system is proposed to cope with control input saturation. Taking into account that only the position and attitude of the quadrotor are measurable, we devise an extended state observer to supply the estimations of unmeasured states, model uncertainties, and external disturbances. We strictly prove the stability of the closed-loop system by using the Lyapunov theory and demonstrate the effectiveness of the proposed algorithm through numerical simulations.

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Section: Introductionmentioning

confidence: 95%

Section: Closed-loop System's Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Xuan-Mung

Hong

2019

Applied Sciences

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“…As the output states are available, the same desired states (24) designed by the backstepping control law are used in (35). The estimated control input (35) is applied to (23), and the closed-loop tracking error dynamics can be obtained aṡ…”

Section: Analysis Of Closed-loop Stabilitymentioning

confidence: 99%

“…Thus, an extended state observer (ESO) has been developed to estimate full state and disturbance. Various ESO-based control methods have been implemented for quadrotors [32]- [35]. Only external disturbances or partial unmodeled dynamics, such as the gyroscopic effect are considered as the disturbance in attitude dynamics.…”

Section: Introductionmentioning

confidence: 99%

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

et al. 2020

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We propose an extended-state-observer (ESO)-based robust position tracking control method using nonlinear damping gain to improve the control performance under external disturbances and parameter uncertainties for quadrotors. The proposed method consists of an ESO and a nonlinear damping controller (NDC). The ESO is designed to estimate full state and disturbance. The external disturbance, velocity dynamics, and the uncertainty of the input parameter are lumped in the disturbance. The NDC is developed via backstepping procedure to suppress the output tracking error according to the disturbance estimation error. The proposed method is simple and robust against external disturbance and parameter uncertainties. In addition, only the nominal value of the input gain parameters are required. The closed-loop stability is proven by using the input-to-state stability property. The position tracking performance of proposed method was verified by performing hardware-in-the-loop simulations using a quadrotor platform. INDEX TERMS Extended state observer (ESO), Nonlinear damping contol (NDC), Quadrotor, Robust position control, Hardware-in-the-loop-simulation (HILS)

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Dynamic Surface Sliding Mode Control with an Extended State Observer for Course Tracking of the Dam Maintenance Submersible

Liu

Wang

et al. 2021

Lecture Notes in Electrical Engineering

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Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter

Cited by 26 publications

References 25 publications

Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

Dynamic Surface Sliding Mode Control with an Extended State Observer for Course Tracking of the Dam Maintenance Submersible

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