Finite-time trajectory control for a quadrotor aircraft using disturbance observer

Chu, Zhaobi; Zhou, Songgang; Zhu, Min; Li, Hua

doi:10.1177/1729881420903847

Cited by 6 publications

(5 citation statements)

References 38 publications

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“…Besides, model uncertainties are inevitably present in the dynamic model of the quadrotor. Therefore, in contrast to several reported works, e.g., [21,37,38] that consider a perfect model with precise knowledge of the model parameters, both model uncertainties and external time-varying disturbances are considered in the present study. Hence, the following assumption is introduced for the quadrotor dynamics given in ( 10) and (11).…”

Section: Preliminariesmentioning

confidence: 99%

“…To address the finite-time control of attitude and position of the quadrotor, a modified super twisting fast nonlinear sliding mode controller is proposed to stabilize a quadrotor system under time-varying disturbances in [37], in finitetime. Also, a finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances is investigated in [38]. However, together with [21], the works [37,38] have presented the design of the control laws by considering a perfect model with precise knowledge of the model parameters.…”

Section: Introductionmentioning

confidence: 99%

“…Also, a finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances is investigated in [38]. However, together with [21], the works [37,38] have presented the design of the control laws by considering a perfect model with precise knowledge of the model parameters. In practice, it is difficult to identify and estimate the exact parameters of the quadrotor system, notably, the aerodynamic coefficients.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

Mechali

Iqbal

Xie

et al. 2021

International Journal of Aerospace Engineering

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This paper presents an accurate solution of finite-time Cartesian trajectory tracking control problem of a quadrotor system by designing and implementing a novel robust flight-control algorithm. The quadrotor is subject to nonlinearities, unmodeled dynamics, parameters’ uncertainties, and external time-varying disturbances. To reject the disturbances and enhance the control system’s robustness, a terminal sliding mode-based active antidisturbance control (TSMBAADC) approach is proposed for rotational and translational subsystems. To improve the tracking performance, a nonlinear continuous terminal sliding manifold and a fast reaching law are proposed in this work to quickly drive the systems’ states to the equilibrium point even in the presence of lumped disturbances. The convergence time of the states can be pretuned based on the parameters of the sliding manifold and the reaching law. Lyapunov theorem is used to provide a rigorous stability proof for the feedback control system. Numerical simulations and processor-in-the-loop (PIL) experiments are conducted to validate and implement the designed flight control algorithm on real autopilot hardware. The novelty of the proposed research lies in hardware implementation of a sophisticated version of modern control technique that exhibits a multitude of distinguishing features including but not limited to (i) finite-time tracking stability featuring fast convergence is ensured, (ii) chattering and singularity problems in sliding mode control (SMC) are avoided, and (iii) null steady-state error is achieved along with enhanced robustness. Finally, the proposed control law is compared with two recently reported research works. Results of performance comparison in term of the integral of square error (ISE) and the absolute value of the derivative of the input u t (IADU) dictate that the proposed technique overperforms by precision and chattering alleviation.

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Section: Preliminariesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

Mechali

Iqbal

Xie

et al. 2021

International Journal of Aerospace Engineering

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“…However, as length will increases, constant propeller quadrotors broaden risks relative to traditional helicopters. Increasing blade length will increase their momentum [7]. This means that adjustments in blade pace take longer, which negatively affects control.…”

Section: Introductionmentioning

confidence: 99%

Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

Jibril

2021

Preprint

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Accurate and precise trajectory tracking is crucial for a quadrotor to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the Adaptive and Fuzzy logic controller. The Adaptive fuzzy controller is implemented to govern the behavior of two degrees of freedom quadrotor UAV. The proposed controller allows controlling the movement of UAVs to track a given trajectory in a 2D vertical plane. The Fuzzy Logic system provides an automatic adjustment of the Adaptive parameters to reduce tracking errors and improve the quality of the controller. The results showed perfect behavior for the control law to control a quadrotor trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with Fuzzy and Proportional integral derivative (PID) control methods.

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“…Chu et al 3 treat the problem of trajectory tracking in a finite time for quadrotors subject to unknown disturbances which are estimated by an observer then compensated by the finite time controller. In Alqaisi et al 4 an improved non-singular terminal super-twisting controller is used to deal with the tracking problem and eliminate singularity when position error converge to zero.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

Labbadi

Houm

Abbou

et al. 2020

Advances in Mechanical Engineering

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The present paper proposes an adaptive global nonlinear sliding mode controller (AGNSMC) for the tracking problem of a quadrotor subjected to external disturbances. In order to eliminate the reaching phase and to guarantee the sliding mode of the quadrotor states in the initial time, a novel control law is developed. The upper bounds of disturbances affected the quadrotor dynamics are rejected based on adaptive laws for the both attitude and position subsystem. The tracking performance is enhanced by using the suggested controller. The stability of quadrotor is guaranteed and the global sliding mode surfaces converge to origin values in a finite time. To show the robustness of the proposed control approach against the external disturbances, simulation results are presented and compared with the results of the super-twisting-integral sliding mode controller.

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Finite-time trajectory control for a quadrotor aircraft using disturbance observer

Cited by 6 publications

References 38 publications

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment

Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

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