High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

Abstract

This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem are divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the es-

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

“…Using the Euler-Lagrangian methodology, the dynamics equation for the quadrotor attitude system can be expressed as (see among others [2,7,18])…”

“…Compared with conventional aircraft, the quadrotor possesses some specific properties such as simple structure, vertical takeoff/landing, hovering capability, and agile operation in the cluttered environment. But, there are confronted with many difficulties including the multiple-input-multiple-output (MIMO), high nonlinearity, under-actuation, and extremely complicated atmosphere, and the quadrotor system is sensitive to several uncertainties and/or disturbances [7]. Apart from increasing the challenge of the controller design, the foregoing factors pose multiple handicaps in the stable response and task success.…”

“…2) The second approach is to develop a continuous controller [10,23,24,33], however, it could lead to deterioration accuracy and low robustness. 3) Because the degree of the unexpected chattering is proportional to the magnitude of switching gains, some observers/approximators and adaptive approaches are designed to avoid choosing big switching gains [7,11,19,20,29,[34][35][36]. The afore-mentioned approaches so far solve the unwanted chattering, however, the fast finite-time nature disappears.…”

Robust Dual-Channel Disturbance Rejection Attitude Control for a Quadrotor UAV: Theory and Experiment

“…Multiple control schemes, such as proportional-integralderivative (PID) [6][7][8], backstepping control [9,10], adaptive control [11][12][13], model predictive control (MPC) [14,15], sliding mode control (SMC) [16][17][18], intelligent control [19][20][21], H ∞ control [22], robust control [23,24], are applied to the attitude control of the quadrotor. In this introduction, the trajectory tracking control of the quadrotor under modeling uncertainties and unknown disturbances is concerned.…”

“…A recursive least squares (RL-S) algorithm is introduced to estimate model parameters of a quadrotor in [15], and an adaptive MPC is presented by using the model parameters. In [18], a high-order sliding mode observer (SMO) is introduced to estimate the lumped disturbances. A composite nonlinear dynamical inversion position controller and a composite nonsingular terminal sliding mode attitude controller are designed by using the estimation information.…”