Finite-time control for a UAV system based on finite-time disturbance observer

Huang, Deqing; Huang, Tianpeng; Qin, Na; Li, Yanan; Yang, Yong

doi:10.1016/j.ast.2022.107825

Cited by 28 publications

(22 citation statements)

References 43 publications

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“…Besides, finite-time technique is critical in MASs that require fast responses, for example, altitude and attitude tracking of MAS consisting of UAVs. 24 Predefined output containment tracking for a nonlinear MAS is realized in a practical finite time by Reference 25 when the controllers of the leaders are unknown to the followers. By using observers and fuzzy systems, an adaptive containment controller for a nonlinear MAS with actuator delay is designed by Reference 26 using the finite-time technique.…”

Section: Introductionmentioning

confidence: 99%

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Bipartite containment control of nonlinear multi‐agent systems with unknown inputs and state constraints

Zhao,

Zhu

2024

Adaptive Control & Signal

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SummaryThis article addresses the issue of bipartite containment tracking for nonlinear strict feedback multi‐agent systems (MASs) with disturbances and measurement uncertainties. To provides a better performance against strong disturbance, a coordination transformation is applied such that all the nonlinear functions, controller disturbances and measurement uncertainties are lumped into a single disturbance signal in the last state equation. Then, the lumped disturbance is compensated through a novel disturbance rebuilding method. Moreover, in order to get better control performance, state constraints are also considered through a nonlinear transformation function (NTF). Different from traditional methods dealing with the state constraint problems, the NTF method can avoid using any discontinuous Lyapunov function. Finally, an adaptive finite‐time distributed controller is established via the disturbance estimates, backstepping technique and fuzzy logic system (FLS). The performance of the controller is illustrated by a simulation example in which the bipartite containment formation of followers is realized in a practical finite time.

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Section: Introductionmentioning

confidence: 99%

“…Besides, finite‐time technique is critical in MASs that require fast responses, for example, altitude and attitude tracking of MAS consisting of UAVs 24 . Predefined output containment tracking for a nonlinear MAS is realized in a practical finite time by Reference 25 when the controllers of the leaders are unknown to the followers.…”

Section: Introductionmentioning

confidence: 99%

Bipartite containment control of nonlinear multi‐agent systems with unknown inputs and state constraints

Zhao,

Zhu

2024

Adaptive Control & Signal

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“…With the development of quadrotors in recent years, it has attracted considerable attention from many scholars. Compared with traditional manned aircraft and unmanned fixed-wing aircraft, the quadrotor has the advantages of vertical take-off and landing, hover stability, easy portability, small size, and so on (Bouabdallah and Siegwart, 2007;Hamel et al, 2002;Hoffmann et al, 2007;Huang et al, 2022aHuang et al, , 2022bLazim et al, 2019). Therefore, the quadrotor has been widely used in the civil and military fields.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer

Chen

Long

2023

Transactions of the Institute of Measurement and Control

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Considering the problems of unknown external disturbances and parametric uncertainties in trajectory tracking of a quadrotor, a backstepping control method based on time-varying threshold event-triggered extended state observer (TETESO) and a nonlinear differentiator with lead compensation is proposed in this paper. First, to facilitate the controller design, the quadrotor system is divided into the position subsystem and the attitude subsystem, which are transformed into the original cascaded dynamics. Second, a TETESO which can observe the unmeasurable states and the total disturbance as well as reduce the unnecessary communication resources between sensor and observer is proposed. It is proved that the observation errors are bounded, and Zeno behavior is avoided. Third, a new controller synthesized by the proposed TETESO and the backstepping control method is designed for the position subsystem and the attitude subsystem. To address the “differential explosion” problem in the backstepping control method, a nonlinear differentiator with lead compensation is used to compute the derivative of desired attitudes in the controller. Moreover, the stability analysis of the closed-loop system is proved and the proposed controller can ensure the ultimate boundedness of all signals. Finally, the effectiveness and superiority of the proposed control method are verified by simulation.

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“…Moreover, the speed of convergence is regarded as an important parameter for the QUAV's control systems. Therefore, control systems based on finite-time control have gained significant attention [2,[14][15][16][17]. For example, in [14], the authors proposed a fast terminal sliding mode controller (FTSMC) to achieve trajectory tracking control of the QUAV, and the tracking error for desired altitude and attitude was guaranteed to converge to zero in finite time.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, control systems based on finite-time control have gained significant attention [2,[14][15][16][17]. For example, in [14], the authors proposed a fast terminal sliding mode controller (FTSMC) to achieve trajectory tracking control of the QUAV, and the tracking error for desired altitude and attitude was guaranteed to converge to zero in finite time. A finite-time nonlinear disturbance observer (NDO) was also presented to estimate external disturbance acting on altitude and attitude channels of the QUAV.…”

Section: Introductionmentioning

confidence: 99%

Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

Shao

Zhao

et al. 2023

Drones

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The trajectory tracking control problem of a quadrotor unmanned aerial vehicle (QUAV) subject to external disturbances, inertia uncertainties, actuator faults, and input saturation is addressed in this paper. In contrast with previous works, input saturation herein refers to rotor speed saturation rather than thrust and torque saturation. First, the control system is decoupled into translational and rotational subsystems. Then, for both subsystems, two novel fixed-time unknown input observers (UIO) based on disturbance filtering are developed to estimate the lumped disturbance rapidly and precisely without awareness of the boundary of disturbances. Furthermore, fixed-time tracking controllers for translational and rotational subsystems are proposed based on the estimation values provided by UIO to stabilize tracking errors into a small region in fixed time regardless of the initial values. The theoretical analysis based on the Lyapunov method is presented to demonstrate the stability. Finally, the simulation results show that the proposed control method is effective. The comparison simulation is carried out to validate superiority of the proposed observer and its advantage can be summed up as: (1) the upper bound of the disturbance or its derivative is not needed; (2) the estimation results are smoother and the observation precision is higher due to the absence of sign function; (3) the mutant disturbance can be also estimated quickly and precisely.

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Finite-time control for a UAV system based on finite-time disturbance observer

Cited by 28 publications

References 43 publications

Bipartite containment control of nonlinear multi‐agent systems with unknown inputs and state constraints

Bipartite containment control of nonlinear multi‐agent systems with unknown inputs and state constraints

Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer

Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

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