Sigmoid Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System With Unknown Disturbance

Rong, Yongfeng; Jiao, Ran; Kang, Song; Chou, Wu

doi:10.1109/robio49542.2019.8961654

Cited by 6 publications

(5 citation statements)

References 22 publications

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“…According to the criteria of the squared errors and energies (see Table 6), it can be observed that, the SMO has proven its effectiveness in terms of accuracy and consumed energy compared to the results obtained by the conventional PID. Unlike the obtained results in works [33,34,35,36,37,38,39,40,41,42,43,44], where the initial conditions are zero, the SMO has presented good performance.…”

Section: Results Interpretationcontrasting

confidence: 84%

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Daadi¹,

Boulebtinai²,

Derrouaoui³

et al. 2022

IJRCS

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This paper studies a particular Unmanned Aerial Vehicle (UAV), called QBall 2+ quadcopter. This vehicle is a complex system, non-linear, strongly coupled, and under-actuated. First, a non-linear model was developed to represent the dynamics of the studied drone. Once the latter is established, the linear model was used to obtain the best gains of the Proportional Integral Derivative (PID) controller. This controller was applied after on the non-linear model of the UAV. Moreover, a Sliding Mode Controller (SMC) based on Sliding Mode Observer (SMO) was designed for retrieving the system unknown variables. Through these latter, the QBall 2+ was controlled, taking into account the observer errors. The first contribution in this work is to implement the PID regulator on the QBall 2+ flight controller to validate the results obtained by simulation. Secondly, due to the limitations of the Flex 3 cameras, especially when the drone is outside their working environment, the sliding mode observer was implemented to replace the cameras in order to measure the states of the system considered in this work. Simulation results of the different applied controllers were displayed to evaluate their effectiveness.

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Section: Results Interpretationcontrasting

confidence: 84%

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Daadi¹,

Boulebtinai²,

Derrouaoui³

et al. 2022

IJRCS

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show abstract

“…The proposed FASSTESO is used in the simulation, meanwhile, the 0-order observer in [17], the disturbance Fig. 6 Geometry of the interacted surface observer (DO) in [2,24] and previously proposed SSTESO in our work [18] are adopted for comparison. The SSTESO is a simplified version of FASSTESO, which is not equipped with adaptive gain under fuzzy logic rules.…”

Section: Sliding On Open Generic Surfacementioning

confidence: 99%

“…A extended state observer based on super-twisting theory (STESO) is constructed in [23] for the estimation of the lumped disturbance. Furthermore, an improved STESO is built in [18], where a sigmoid function is employed to replace the discontinuous signum function for chattering reduction, however it could not adapt to estimate wrenches with different upper bounds of first derivative due to its constant observer gains.…”

Section: Introductionmentioning

confidence: 99%

Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces

Jiao

Rashad

Bicego

et al. 2021

J Intell Robot Syst

Self Cite

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Aerial physical interaction is a promising field for unmanned aerial vehicles in future applications. This paper presents a novel paradigm for automatic aerial contact-based sliding interaction (inspection/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied on generic surfaces with unknown geometry. The interaction task is achieved by a fully-actuated hexarotor equipped with a rigidly attached end-effector under a passivity-based geometric impedance controller and a new sliding-mode extended state observer to estimate the interaction wrench. In order to increase the observer performance and reduce the estimation chattering phenomenon, the observer is innovatively incorporated with a super-twisting algorithm and a sigmoid function with a switching gain being adaptively updated by a fuzzy logic system. A detailed stability analysis for the observer is presented based on the Lyapunov stability theory. The proposed control approach is validated in several simulations in which we try to accomplish the aerial physical sliding interaction task with different types of objects under various sliding speeds.

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“…The traditional sliding mode controller has a very distinct feature that is to contain a symbolic function. 22 The resulting control instruction will be non-continuous, therefore the sliding surface will produce vibration phenomenon in sliding mode. To avoid chattering phenomenon, sat ( s ) used to replace the symbol function with the approximate continuous saturation function.…”

Section: Internal and External Control Structuresmentioning

confidence: 99%

Trajectory planning of quadrotor using sliding mode control with extended state observer

Xiao

2020

Measurement and Control

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This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabilizing its flight are complex tasks because of its ability to maneuver quickly. Due to these stated issues, the tuning of this type of dynamic system is a difficult task. This paper deals with these issues by designing the aforementioned dual controller scheme. In addition, the effectiveness of the proposed controller is apparent in simulations performed in MATLAB, Simulink 2016. The designed controller shows better results and robustness than traditional controllers do.

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Sigmoid Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System With Unknown Disturbance

Cited by 6 publications

References 22 publications

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation

Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces

Trajectory planning of quadrotor using sliding mode control with extended state observer

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