Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances

Jia, Zhenyue; Yu, Jianqiao; Mei, Yuesong; Chen, Yongbo; Shen, Yuanchuan; Ai, Xiaolin

doi:10.1016/j.ast.2017.05.022

Cited by 242 publications

(126 citation statements)

References 10 publications

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“…Sliding mode control is another nonlinear control method which is capable of dealing with some classes of uncertainties and external disturbances [22][23][24][25][26]. In [22,23], a combination of the sliding mode control and backstepping control techniques are used for the control of quadrotors. Despite the mentioned capabilities, sliding mode control suffers from chattering, and it is necessary to know the upper bounds of uncertainties.…”

Section: Introductionmentioning

confidence: 99%

System identification and H∞-based control of quadrotor attitude

Noormohammadi-Asl

Esrafilian

Arzati

2020

Mechanical Systems and Signal Processing

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The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown parameters. In this paper, to cope with uncertainty, an H ∞ control approach is adopted for a real quadrotor. To achieve H ∞ controller, first a continuous-time system identification is performed on the experimental data to encapsulate a nominal model of the system as well as a multiplicative uncertainty. By this means, H ∞ controllers for both roll and pitch angles are synthesized. To verify the effectiveness of the proposed controllers, some real experiments and simulations are carried out. Results verify that the designed controller does retain robust stability, and provide a better tracking performance in comparison with a well-tuned PID and a µ synthesis controller.

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Section: Introductionmentioning

confidence: 99%

System identification and H∞-based control of quadrotor attitude

Noormohammadi-Asl

Esrafilian

Arzati

2020

Mechanical Systems and Signal Processing

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“…A practical way to attenuate mismatched disturbances is to combine the SMC technique with the integral action, namely, integral sliding-mode control (ISMC). 13 Unfortunately, the integral action will result in large overshoot and long settling time.…”

Section: Introductionmentioning

confidence: 99%

High‐order mismatched disturbance rejection control for small‐scale unmanned helicopter via continuous nonsingular terminal sliding‐mode approach

Fang

Liu

2018

Intl J Robust & Nonlinear

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In this paper, the problem of finite-time control for small-scale unmanned helicopter system with high-order mismatched disturbance is investigated via continuous nonsingular terminal sliding-mode control approach. The key idea is to design a novel nonlinear dynamic sliding-mode surface based on finite-time disturbance observer. Then, the finite-time convergence and chattering attenuation capability is guaranteed by the continuous nonsingular terminal sliding-mode control law. Additionally, rigorous finite-time stability analysis for the closed-loop helicopter system is given by means of the Lyapunov theory. Finally, some simulation results demonstrate the effectiveness and predominant properties of the proposed control method for the small-scale unmanned helicopter even in the presence of high-order mismatched disturbance. KEYWORDS continuous nonsingular terminal sliding mode control (CNTSMC), finite-time disturbance observer (FTDO), high-order mismatched disturbance, unmanned helicopter Int J Robust Nonlinear Control. 2019;29:935-948.wileyonlinelibrary.com/journal/rnc

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“…To enhance the tracking performance and robustness for nonlinear uncertain quadrotor systems, various elegant nonlinear controllers have been investigated, such as feedback‐linearization control, back‐stepping control,(–) sliding‐mode control,(–) and neural network–based adaptive control. (–) For the available research results, the conventional separation between the position (outer loop) and the attitude (inner loop) is commonly taken to tackle the underactuated property that is also known as the hierarchical control strategy, consisting of a 2‐stage architecture with the synergistic combination of different approaches.…”

Section: Introductionmentioning

confidence: 99%

Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism

Shao

Liu

et al. 2018

Intl J Robust & Nonlinear

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Summary In this paper, an output‐feedback trajectory tracking controller for quadrotors is presented by integrating a model‐assisted extended state observer (ESO) with dynamic surface control. The quadrotor dynamics are described by translational and rotational loops with lumped disturbances to promote the hierarchical control design. Then, by exploiting the structural property of the quadrotor, a model information–assisted high‐order ESO that relies only on position measurements is designed to estimate not only the unmeasurable states but also the lumped disturbances in the rotational loop. In addition, to account for the problem of “explosion of complexity” inherent in hierarchical control, the output feedback–based trajectory tracking and attitude stabilization laws are respectively synthesized by utilizing dynamic surface control and the corresponding estimated signals provided by the ESO. The stability analysis is given, showing that the output‐feedback trajectory tracking controller can ensure the ultimate boundedness of all signals in the closed‐loop system and make the tracking errors arbitrarily small. Finally, flight simulations with respect to an 8‐shaped trajectory command are performed to verify the effectiveness of the proposed scheme in obtaining the stable and accurate trajectory tracking using position measurements only.

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Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances

Cited by 242 publications

References 10 publications

System identification and H∞-based control of quadrotor attitude

System identification and H∞-based control of quadrotor attitude

High‐order mismatched disturbance rejection control for small‐scale unmanned helicopter via continuous nonsingular terminal sliding‐mode approach

Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism

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