Robust Super-Twisting Sliding Mode Backstepping Control Blended with Tracking Differentiator and Nonlinear Disturbance Observer for an Unknown UAV System

Park, Sung Bum; Han, Seong-Ik

doi:10.3390/app12052490

Cited by 8 publications

(4 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Meanwhile, the flying environment is complicated and uneasily unpredicted, and the external disturbances are inevitable in the flight formation for the UAVs (Chen, 2016; Liu et al, 2019). Since the disturbance observer (DO) method can effectively eliminate the influences of external disturbances, many types of researches were carried out in different fields (Mokhtari et al, 2017; Park and Han, 2022; Wang et al, 2022; Zhang et al, 2019). For instance, a new DO design based on the tracking differentiator was presented to estimate uncertainties of the hexacopter UAV (Park and Han, 2022).…”

Section: Introductionmentioning

confidence: 99%

“…Since the disturbance observer (DO) method can effectively eliminate the influences of external disturbances, many types of researches were carried out in different fields (Mokhtari et al, 2017; Park and Han, 2022; Wang et al, 2022; Zhang et al, 2019). For instance, a new DO design based on the tracking differentiator was presented to estimate uncertainties of the hexacopter UAV (Park and Han, 2022). Wang et al (2022) utilized the DO to deal with external disturbances and actuator additive faults effectively.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic event-triggered formation control for UAVs under communication delay and outside disturbances

Liao

et al. 2023

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

This work presents a dynamic event-triggered sliding mode controller to solve the problem on cooperative formation flight for unmanned aerial vehicles (UAVs) under outside disturbances and communication delay. Initially, a second-order kinematic model for each UAV is established, and the leader-follower framework is adopted to realize the desired formation flight. Second, an effective design of disturbance observer is proposed based on that the disturbance in the UAV is generated by an external nonlinear system. Third, a new dynamic event-triggered mechanism (DETM) is presented and the triggering threshold is adjusted by an exogenous system, which can help reduce data transmissions and maintain control performance more efficiently. Then, a distributed dynamic event-triggered sliding mode control strategy is proposed for the UAV system, and two sufficient conditions on exponential stability of the overall closed-loop system are derived. Furthermore, the controller gain, observer gain, and triggering parameter can be obtained by solving the derived linear matrix inequalities (LMIs). Finally, a simulated example is exploited to illustrate the obtained results.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic event-triggered formation control for UAVs under communication delay and outside disturbances

Liao

et al. 2023

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…Its corrective actions are analogous to the control actions of the control plant. A generator with closed-loop feedback is a tracking differentiator [18,19]. Its output variables track, with some accuracy, piecewise continuous signals from an autonomous source in real time.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

2023

View full text Add to dashboard Cite

For an unmanned aerial vehicle (UAV) of an aircraft type, the problems of planning achievable trajectories as well as robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D trajectory is proposed. Its segments connect the given waypoints and determine the desired average velocity in various sections. Instead of time-consuming methods of analytical smoothing of broken path joints using polynomials, a tracking differentiator with S-shaped smooth and limited sigmoid corrective actions is developed. This virtual dynamic model provides natural smoothing of the primary trajectory considering the design constraints on the velocity, acceleration, and thrust of the UAV. The tracking differentiator variables create an achievable trajectory and are used to synthesize the UAV tracking system. To compensate for the action of wind disturbances on the UAV, a disturbance observer is developed. It is a replica of the equations of the control plant model, which are directly affected by external uncontrolled disturbances. These algorithms also use sigmoid corrections. Unlike standard disturbances observers, this approach does not require the development of a dynamic model of external disturbances and does not assume their smoothness. The effectiveness of the developed algorithms was confirmed by numerical simulation.

show abstract

“…To achieve autonomous take-off and landing to/from moving platforms, a tracking-accuracy guidance system with high performance is needed as an essential condition. As a nonlinear tracking algorithm that functions as an important part of the system of active disturbance-rejection control technology [6][7][8][9][10], the tracking differentiator, through which the differential signals can be extracted from target signals, is suitable for the guidance mechanism of unmanned helicopters [11].…”

Section: Introductionmentioning

confidence: 99%

Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

et al. 2022

View full text Add to dashboard Cite

For some flight missions, such as autonomous landing on mobile platforms, the demands on indicators such as target-tracking accuracy and so on are relatively high. To achieve this, a guidance system with excellent precision is necessary. An asymmetric tracking differentiator based on a tracking differentiator is proposed to establish the guidance system. On the basis of the proposed asymmetric tracking differentiator, an altitudinal and horizontal helicopter guidance system structure is designed. In this paper, a guidance law is designed in order to meet the accuracy and precision requirements in the autonomous landing and transition process. Apart from that, a plane-motion-guidance law is also designed to realize static and dynamic point tracking, linear route tracking and circular route tracking to improve the trajectory smoothness and accuracy. Finally, simulations of the autonomous landing process on moving platforms, including three stages, namely approaching, tracking and landing, are completed. The application effects and precision of the autonomous landing guidance algorithm under different wave heights and period conditions are analyzed through the obtained simulation curves.

show abstract

Robust Super-Twisting Sliding Mode Backstepping Control Blended with Tracking Differentiator and Nonlinear Disturbance Observer for an Unknown UAV System

Cited by 8 publications

References 48 publications

Dynamic event-triggered formation control for UAVs under communication delay and outside disturbances

Dynamic event-triggered formation control for UAVs under communication delay and outside disturbances

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator

Contact Info

Product

Resources

About