Finite-time Extended State Observer based fault tolerant output feedback control for attitude stabilization

Li, Bo; Qin, Ke; Xiao, Bing; Yang, Yongyi

doi:10.1016/j.isatra.2019.01.039

Cited by 98 publications

(65 citation statements)

References 42 publications

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“…The main differences between the two FTC strategies are that an adjustable control structure or parameters based on fault detection and diagnosis (FDD) are employed in the AFTC [11,12]. A large number of achievements for FTC have been obtained in the last few decades, including sliding mode FTC [13], model reference adaptive FTC [14], neural adaptive FTC [15,16], fuzzy FTC [17,18], eventtriggered FTC [19,20], back-stepping FTC [21,22], etc. Because of the great advantages in dealing with the high order chain integral system among these methods, the back-stepping control method is widely used in the design of the FTC scheme.…”

Section: Introductionmentioning

confidence: 99%

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Liang

Wang

et al. 2021

Int. J. Control Autom. Syst.

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In this paper, the problem of the back-stepping fault-tolerant control (FTC) based on fixed-time observer is addressed for the morphing aircraft with model uncertainties, external disturbances, and actuator faults. First, the longitudinal dynamics for the morphing process are presented, and the control-oriented models subject to undesired malfunctions are established. Second, the fixed-time observer is designed for offering estimations of compound disturbances, including system uncertainties, disturbance, and malfunction information. Especially, the observer errors could converge to zero by the proposed observer within a settling time, which is independent of the system's initial conditions. Then, a back-stepping FTC strategy based on the observations is proposed for the altitude and velocity subsystem, and the stability of the close loop system would be guaranteed by the proposed controller despite the actuator failures. Furthermore, to eliminate the effects of the "explosion of complexity" of the backstepping method, a modified dynamic surface is applied to compute derivatives of virtual laws. Finally, the numerical simulations verify the effectiveness of the proposed control approach.

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Section: Introductionmentioning

confidence: 99%

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Liang

Wang

et al. 2021

Int. J. Control Autom. Syst.

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“…Recently, the quadrotor UAV has been studied extensively. Many scholars have researched control problems regarding the quadrotor UAV, including trajectory tracking control [1], formation control [2], obstacle avoidance control [2], and fault tolerant control [3]. Highaccuracy trajectory tracking control is the basis for allowing the quadrotor UAV to complete tasks.…”

Section: Introductionmentioning

confidence: 99%

Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

et al. 2021

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In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

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“…In order to investigate the problem of fast robust fault tolerant control, (Li et al, 2019a) utilizes a finite-time ESO-based nonsingular terminal sliding mode control strategy to achieve the finite-time stability of the spacecraft attitude system. However, most of designed ESOs are asymptotically stable (Guo and Zhao, 2011) or finite-time stable (Li et al, 2019b). In this paper, the ESO technique will be investigated to achieve faster convergence performance of the quadrotor UAV control system.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle

Ban

Gong

Xiao

2020

Transactions of the Institute of Measurement and Control

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This work presents a novel control strategy for the trajectory tracking control of the quadrotor unmanned aerial vehicle (UAV) with parameter uncertainties and external unknown disturbances. As a stepping stone, two fixed-time extended state observers (ESOs) are proposed to estimate the external disturbances and/or the parameter uncertainties for the position and attitude subsystems, respectively. Then, the fast terminal sliding mode-based improved dynamic surface control (DSC) approaches are developed. To eliminate the problem of “explosion of complexity” inherent in backstepping method-based controllers, the finite-time command filters and an error compensation signals are used in the design of the dynamic surface controllers. Subsequently, the practically finite-time stability of the closed-loop tracking system is guaranteed by utilizing the proposed control scheme. The simulation results are obtained to demonstrate the effectiveness and fine performance of the proposed trajectory tracking control approaches.

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Finite-time Extended State Observer based fault tolerant output feedback control for attitude stabilization

Cited by 98 publications

References 42 publications

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Back-stepping Fault-tolerant Control for Morphing Aircraft Based on Fixed-time Observer

Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle

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