Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

Ahmed, Nigar; Raza, Abid; Shah, Syed Awais Ali; Khan, Rameez

doi:10.1007/s10846-021-01463-6

Cited by 16 publications

(11 citation statements)

References 21 publications

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“…[Ω T ι, 0, (−1) i+1 Ω j ] T denotes resultant of torque owing to the effects of gyroscopic. According to literature reviews [1][2][3][4]. and to above analyses, the (4) can be rewritten as:…”

Section: Quadrotor Dynamicsmentioning

confidence: 99%

“…The system's performance is severely reduced because the quadrotor always navigates in an unstructured and harsh environment with winds, waves, and currents. Thus, controlling the quadrotor system is a difficult and time-consuming task [3,4]. For realworld missions that require a quick, accurate, and reliable response, several control approaches have been devised [5].…”

Section: Introductionmentioning

confidence: 99%

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Robust adaptive predefined-time control tracking for a quadrotor with disturbances

Ali

Abadi

Tahri

et al. 2022

Preprint

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This article deals with the robust finite-time stabilization of a quadrotor subject to perturbations. First, new nonsingular terminal sliding mode variables (NTSMV) are proposed for altitude and attitude that speeds the controlled system’s convergence both before and after it reaches the sliding manifolds of the system. The uniqueness comes in the design of time-varying (TV) sliding surfaces without prior knowledge of the initial system states, resulting in insensitivity to beginning state uncertainty. Then, a robust TV nonsingular terminal sliding mode control scheme is developed based on the results of FTSMV, in which the singularity problem of traditional terminal sliding mode (TSM) control systems is solved by restricting TSM surfaces to non-singular areas. The proposed control strategy applied to the altitude and attitude of a quadrotor guarantees the tracking errors’ finite-time convergence to the origin, as well as the quadrotor overall robustness in the face of enormous uncertainties and unforeseen environmental perturbations. In addition, adaptive tuning laws are designed to estimate the lumped uncertainty’s unknown upper bounds, which is useful in practice, also, the stability of all proposed techniques is proved. All results are illustrated in simulations are compared to others control algorithms.

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Section: Quadrotor Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust adaptive predefined-time control tracking for a quadrotor with disturbances

Ali

Abadi

Tahri

et al. 2022

Preprint

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“…It has a simple mechanical design, low cost and good operational performance. However, the control design is a challenging problem because of high complex coupling and nonlinearities and multi-input multi-output with four inputs and six outputs (Ahmed et al, 2021). Linear and nonlinear control methods have been developed for achieving translational and rotational control of the quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Model-free low-power observer based robust trajectory tracking control of UAV quadrotor with unknown disturbances

Siddiqui,

Zhu,

Rasool

et al. 2024

AEAT

Self Cite

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Purpose The purpose of this paper is to design an output-feedback algorithm based on low-power observer (LPO), robust chattering-free controller and nonlinear disturbance observer (DO) to achieve trajectory tracking of quadrotor in the Cartesian plane. Design/methodology/approach To achieve trajectory tracking control, firstly the decoupled rotational and translational model of quadrotor are modified by introducing backstepped state-space variables. In the second step, robust integral sliding mode control is designed based on the proportional-integral-derivative (PID) technique. In the third step, a DO is constructed. In next step, the measurable outputs, i.e. rotational and translational state variables, are used to design the LPO. Finally, in the control algorithm all state variables and its rates are replaced with its estimates obtained using the state-observer. Findings The finding includes output-feedback control (OFC) algorithm designed by using a LPO. A modified backstepping model for rotational and rotational systems is developed prior to the design of integral sliding mode control based on PID technique. Unlike traditional high-gain observers (HGO), this paper used the LPO for state estimation of quadrotor systems to solve the problem of peaking phenomenon in HGO. Furthermore, a nonlinear DO is designed such that it attenuates disturbance with unknown magnitude and frequency. Moreover, a chattering reduction criterion has been introduced to solve the inherited chattering issue of controllers based on sliding mode technique. Practical implications This paper presents input and output data-driven model-free control algorithm. That is, only input and output of the quadrotor model are required to achieve the trajectory tracking control. Therefore, for practical implementation, the number of on-board sensor is reduced. Originality/value Although extensive research has been done for designing OFC algorithms for quadrotor, LPO has never been implemented for the rotational and translational state estimations of quadrotor. Furthermore, the mathematical model of rotational and translational systems is modified by using backstepped variables followed by the controller designed using PID and integral sliding mode control technique. Moreover, a DO is developed for attenuation of disturbance with unknown bound, magnitude and frequency.

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“…Its main principle is to estimate disturbances via the disturbance observer and immediately compensate disturbances in feed-forward path. In Ahmed et al (2021), for system in the presence of disturbance, the asymptotic stability was achieved by utilizing DOBC method. In Chen et al (2021) and Zhou et al (2021), DOBC tactics were put forward for systems subject to external disturbance (ED), where the ED was modeled as a linear exogenous system.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer-based fixed-time control for nonlinear systems with multiple disturbances

Gao

Wei

et al. 2023

Transactions of the Institute of Measurement and Control

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The fixed-time control is researched for the nonlinear system subject to multiple disturbances, which contain an external disturbance with unknown frequency and an unknown bounded disturbance. An adaptive nonlinear disturbance observer is devised to estimate the unknown frequency disturbance generated by an exogenous system. On this foundation, a composite fixed-time control scheme is proposed by combining the [Formula: see text] control and the fixed-time theory. It guarantees that the expected control performances of system can be achieved under the existence of multiple disturbances. Eventually, the validity of the control scheme is proved via simulation examples.

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Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

Cited by 16 publications

References 21 publications

Robust adaptive predefined-time control tracking for a quadrotor with disturbances

Robust adaptive predefined-time control tracking for a quadrotor with disturbances

Model-free low-power observer based robust trajectory tracking control of UAV quadrotor with unknown disturbances

Disturbance observer-based fixed-time control for nonlinear systems with multiple disturbances

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