Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Xuan-Mung, Nguyen; Hong, Sung Kyung

doi:10.3390/app9235184

Cited by 41 publications

(27 citation statements)

References 50 publications

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“…In the source literature, there are many examples of the widespread use of drones in various areas of today's life, such as in [8,9]. It should be noted that the proposed system in this paper differs significantly from the above-mentioned works and the those discussed in [10,11], mainly due to the use of an original gyro guidance head.…”

Section: Introductionmentioning

confidence: 91%

Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance

Krzysztofik

Koruba

2021

Energies

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This paper investigates the sensitivity (resistance) of a quadcopter on-board gyroscope system for the observation and tracking of a moving ground target to changing parameters of its regulator under interference conditions. It was shown that the gain in matrix elements is most sensitive, and even their slightest deviation from optimal values can lead to reduced target tracking efficiency and even loss of control system stability. Furthermore, the authors studied the energy expenditure at various gyroscope system control parameter values, while homing a quadcopter onto a ground target. A Matlab/Simulink environment was used to conduct simulations of the controlled gyroscope system dynamics. Selected test results are shown in graphic form.

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Section: Introductionmentioning

confidence: 91%

Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance

Krzysztofik

Koruba

2021

Energies

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“…The results showed the effectiveness of the proposed controller in achieving good tracking performances with robust stability. Xuan-Mung and Hong [105] presented a novel robust extended state observer (ESO) based backstepping tracking control scheme for a quadcopter model in the presence of input saturation, disturbances, and uncertainties. The results indicated the effectiveness of the proposed controller in improving the reference tracking performance, rejecting uncertainties and disturbances while achieving fast response compared to the BC-based approaches.…”

Section: Quad-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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“…An important class of UAVs is quadcopters that have attracted great attention from researchers due to their superior properties such as high maneuverability, reliability, diverse applicability, and economy [2]. However, the quadcopter, which has to perform sixdegrees-of-freedom flight with only four control inputs [3], is known as a typical example of a coupled underactuated system. Additionally, the ground effect and external disturbances can further complicate the design of controllers for the quadcopter.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

et al. 2020

Self Cite

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Nowadays, with the increasing popularity of quadcopter unmanned aerial vehicles in several real-world applications, achieving a fully autonomous quadcopter flight has become an imperative topic investigated in many studies. One of the most pressing issues in such a topic is the precision landing task, which always is devastatingly influenced by the ground effect and external disturbances. In this paper, we present an autonomous quadcopter landing algorithm allowing the vehicle to land robustly and precisely onto a heaving platform. Firstly, a robust control algorithm addressing the altitude flight under the ground effect and external disturbances is derived. We strictly prove the closed-loop system stability by using the Lyapunov theory. Secondly, a landing target state estimator is proposed to provide state estimations of the moving landing target. In addition, we propose a landing procedure to ensure the landing task is achieved safely and reliably. Finally, we use a DJI-F450 drone equipped with an infrared sensor and a laser ranging sensor as the experimental quadcopter platform and conduct experiments to evaluate the performance of our new algorithm in real flight conditions. The experimental results demonstrate the effectiveness of the proposed method. INDEX TERMS Autonomous landing, precision landing, moving target, quadcopter, heaving platform, ship deck, robust control, sliding mode control, disturbance observer.

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Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Cited by 41 publications

References 50 publications

Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance

Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Autonomous Quadcopter Precision Landing Onto a Heaving Platform: New Method and Experiment

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