Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints

Ma, Tie-Nan; Xi, Rui-Dong; Xiao, Xiao; Yang, Zhixin

doi:10.3390/machines10070551

Cited by 5 publications

(3 citation statements)

References 53 publications

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“…In [3], a disturbance observer is employed to estimate time-varying external disturbances and uncertainties for ducted fan aerial vehicles. Te unknown disturbance is estimated as one of the unmeasured states based on the expansion state observer in [4][5][6][7].…”

Section: Literature Review Of Related Workmentioning

confidence: 99%

Nonsingular Fast Terminal Sliding Mode Neural Network Decentralized Control of a Quadrotor Unmanned Aerial Vehicle

Mao,

Chen

2023

Complexity

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A nonsingular terminal sliding mode decentralized controller that can ensure the tracking errors of the trajectories and attitude rapid convergence in finite time is proposed for an insufficient driven and strongly coupled nonlinear four-rotor unmanned aerial vehicle (UAV). The total lift of the UAV system is decomposed into three virtual drive separation forces corresponding to the three positions. The insufficient drive UAV system is transformed into a virtual full-drive model for research. The three position states and the three attitude states of UAV are placed correspondingly to the six subsystems by variable substitution. The model uncertainty and unknown disturbance term for each subsystem serves as total coupling terms among the subsystems. The upper bounds of the total coupling terms are considered as unknown ordinary higher order polynomials varying with the six states of the system under the action of time change. With the help of Cauchy inequality, the estimates of the upper bounds are obtained from the approximation performance of the RBF neural network. Finally, the decentralized controller is designed for each attitude subsystem and the virtual decentralized controller for each position subsystem. It is also mapped to the tracking total lift controller by using the virtual decentralized position controller. The controller design process uses the nonsingular terminal sliding mode control technology to ensure that the quadrotor attitude and position variables can quickly converge to the desired value in a short time. Simulation experiments verify that the proposed control method is effective and feasible.

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Section: Literature Review Of Related Workmentioning

confidence: 99%

Nonsingular Fast Terminal Sliding Mode Neural Network Decentralized Control of a Quadrotor Unmanned Aerial Vehicle

Mao,

Chen

2023

Complexity

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“…At the same time, the complex flight environment and parameter uncertainties of the model structure pose great challenges to the stability performance and control system design of the aircraft. Therefore, it is particularly important to study adaptive controller design methods that can overcome the system uncertainty [5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Decentralized Adaptive Quantized Dynamic Surface Control for a Class of Flexible Hypersonic Flight Vehicles with Input Quantization

Zhao¹,

Lu²,

et al. 2023

Machines

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A control strategy for a certain class of hypersonic flight aircraft dynamic models with unknown parameters is proposed in this article. The strategy is adaptive dynamic surface input quantization control. To address the issues in conventional inversion control, a first-order low-pass filter and an adaptive parameter minimum learning law are introduced in the control system design process. This method has the following features: (1) it solves the problem of repeated differentiation of the virtual control law in the conventional back-stepping method, greatly simplifying the control law structure; (2) by using the norm of the neural network weight vector as the adaptive adjustment parameter instead of updating each element online, the number of adaptive adjustment parameters is significantly reduced, improving the execution efficiency of the controller; (3) the introduced hysteresis quantizer overcomes the disadvantage of the quantization accuracy deterioration when the input value is too low in the logarithm quantizer, improving the accuracy of the quantizer. Stability analysis has shown that all signals in the closed-loop system are semi-globally uniformly bounded, and simulation results have verified the effectiveness of the proposed adaptive quantized control scheme.

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“…The backstepping controller can achieve good trajectory tracking when the nominal altitude drops, and improve the control quality of the quadrotor UAV during the transition from hovering state to horizontal flight state. Ma TieNan [9] et al designed a single nonlinear extended state observer by using the feedback linearization technique to reduce the complexity of observer parameter adjustment. A preset performance control method of the four-rotor UAV under the attitude and input saturation constraints is designed to improve the stability of the controlled system.…”

Section: Introductionmentioning

confidence: 99%

Design of Preset Performance Reverse Step Attitude Controller for Four-rotor UAV

Shao¹,

Pan²

2023

FCIS

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Aiming at the attitude control problem in flight control of four-rotor UAV, a control scheme based on the preset performance backstepping controller (ESO-NPPCBSC) for attitude Angle of four-rotor UAV with extended state observer is proposed. A preset performance function with specified time convergence is designed to constrain the transient performance and steady-state performance of the tracking error. Compared with the traditional scheme, the preset performance function can make the tracking error of the controlled system converge to the preset precision range within the specified time, and the convergence rate can be adjusted flexibly and the error conversion function can be used to transform the tracking error without constraints. The attitude Angle tracking error satisfies the preset performance condition by controlling the conversion error. The control law of attitude Angle of four-rotor UAV is designed based on reverse step method, which solves the problem of low control accuracy of four-rotor UAV under the condition of uncertain interference.

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Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints

Cited by 5 publications

References 53 publications

Nonsingular Fast Terminal Sliding Mode Neural Network Decentralized Control of a Quadrotor Unmanned Aerial Vehicle

Nonsingular Fast Terminal Sliding Mode Neural Network Decentralized Control of a Quadrotor Unmanned Aerial Vehicle

Decentralized Adaptive Quantized Dynamic Surface Control for a Class of Flexible Hypersonic Flight Vehicles with Input Quantization

Design of Preset Performance Reverse Step Attitude Controller for Four-rotor UAV

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