A finite time composite control method for quadrotor UAV with wind disturbance rejection

Li, Shenghui; Sun, Zhenxing; Talpur, M. A.

doi:10.1016/j.compeleceng.2022.108299

Cited by 12 publications

(17 citation statements)

References 26 publications

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“…Figure 3(a) shows the state response curves of the six-rotor UAV in the conventional perturbed environment without fault, where the disturbance models are shown as equations ( 51), ( 52), (53), and (54). Figure 3(b) shows the simulation diagram in the presence of wind disturbance, in which the wind disturbance model is used in Shenghui et al (2022), and the wind disturbance is set to exist in 0-15 s…”

Section: Simulation Results and Analysismentioning

confidence: 99%

Simultaneous attitude fault detection and control of the six-rotor UAV based on event trigger mechanism

Huang,

Zhang,

Dai

et al. 2024

Transactions of the Institute of Measurement and Control

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This paper analyzes the problem of simultaneous fault detection and control of the six-rotor unmanned aerial vehicle control system, considering external disturbance, measurement disturbance, and actuator fault. The integral event trigger mechanism is introduced in the control side and sensor side of the system. Based on Lyapunov stability and H∞ control theory, the sufficient conditions to make the fault system asymptotically stable and have certain performance indexes are given by means of linear matrix inequalities; at the same time, the design criteria of event trigger parameters are also given. The linear matrix inequality is decoupled, and the calculation method of gain matrix of simultaneous fault detection and control module is given. The effectiveness of the proposed method is verified by simulation experiments.

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Section: Simulation Results and Analysismentioning

confidence: 99%

Simultaneous attitude fault detection and control of the six-rotor UAV based on event trigger mechanism

Huang,

Zhang,

Dai

et al. 2024

Transactions of the Institute of Measurement and Control

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“…To enhance the wind disturbance resistance performance of quadrotor, [26] effectively combined the ESO and the DOB, and proposed a compound observer method. In [27], a wind-disturbance strategy based on proportional-integral observer was designed for UAV. In [28], an adaptive controller was proposed on the basis of a sliding mode observer, and an experimental platform was built using an ultra-wideband sensor to conduct trajectory tracking experiments in an outdoor gust environment.…”

Section: Introductionmentioning

confidence: 99%

“…However, in the above research, the designed controller can only guarantee asymptotic convergence [14-16, 25, 26] or finite time convergence [17,27,28]. The concept of asymptotic convergence implies that the convergence time is infinite, and finite time convergence is affected by the initial value.…”

Section: Introductionmentioning

confidence: 99%

“…The main contributions of this paper are summarized as 1. Compared with the finite-time scheme [27,28,30], a DOB with fixed-time convergence characteristics is proposed, which is used to estimate external wind disturbances for feedforward compensation. In addition, the convergence time of the estimation error is bounded and independent of the initial state of the system.…”

Section: Introductionmentioning

confidence: 99%

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Fixed-time trajectory tracking control of a quadrotor UAV under time-varying wind disturbances: theory and experimental validation

Cai,

Zhu,

Yao

2024

Meas. Sci. Technol.

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This paper adopts a fixed-time method to study the trajectory tracking issue of a quadrotor unmanned aerial vehicle (UAV) under time-varying wind disturbances. Firstly, in order to address the impact of time-varying wind disturbances on UAV, a fixed-time disturbance observer (FxTDO) is constructed to accurately estimate wind disturbances. Secondly, to improve control accuracy and convergence rate, the robust fixed-time controller is designed for the position and attitude system by combining the sliding mode control theory with fixed-time technique. Furthermore, it is rigorously analyzed that the tracking error of the observer and controller can converge to zero via Lyapunov criterion, and the convergence time is independent of the initial state.Finally, the effectiveness and robustness of the designed control strategy are verified by numerical simulations and actual flight experiments, providing an effective connection between control theory and practical applications.

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“…The quadrotor UAV has a smaller geometric size and a lighter mass, which makes it more sensitive to wind disturbances. Considering that the quadrotor UAV usually suffers external disturbances in actual flight, such as wind gust and turbulent fluid flow [35–37], it is necessary to design a controller with anti‐disturbance and high precision. Schiano et al [38] built a quadrotor UAV system model in the wind field environment, added an integral term on the basis of LQR control algorithm to improve the anti‐disturbance ability of the quadrotor UAV, and conducted experiments in the wind tunnel to verify the accuracy of the model and the effectiveness of the controller.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Duan

Min

2023

Asian Journal of Control

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This paper aims to solve the tracking control problem for quadrotor unmanned aerial vehicle (UAV) with input delay and disturbances. An appropriate auxiliary system is applied to compensate the effect of the input delay. The nonlinear disturbance observer is utilized to restrain the influence of external disturbances. Then, the controller is designed by backstepping method to ensure the trajectory tracking and steady flight of the quadrotor UAV. We also present simulation and experimental reification results to demonstrate the tracking effect and stable flight of the UAV.

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A finite time composite control method for quadrotor UAV with wind disturbance rejection

Cited by 12 publications

References 26 publications

Simultaneous attitude fault detection and control of the six-rotor UAV based on event trigger mechanism

Simultaneous attitude fault detection and control of the six-rotor UAV based on event trigger mechanism

Fixed-time trajectory tracking control of a quadrotor UAV under time-varying wind disturbances: theory and experimental validation

Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

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