2021
DOI: 10.1049/cth2.12159
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Adaptive sliding mode disturbance observer–based funnel trajectory tracking control of quadrotor with external disturbances

Abstract: This paper studies trajectory tracking control problem of quadrotor in the presence of external disturbances. A new control scheme integrating adaptive sliding mode disturbance observer (ASMDO) with backstepping funnel control is designed in both position loop and attitude loop. Adaptive sliding mode disturbance observer is utilized to estimate and compensate the external disturbances of quadrotor system, which relaxed the upper bound requirement in conventional sliding mode disturbance observer (SMDO) whilst … Show more

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Cited by 20 publications
(14 citation statements)
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“…Tωz${T_{\omega z}}\ $represents the transfer function from the disturbances ωfalse(tfalse)$\omega ( t )$ to the performance output zfalse(tfalse)$z( t )$ and γ is a given positive scalar. Remark The similar dynamic observer‐based controller structure has been considered in existing methods in the literature [21–26], the dynamic observer can be considered as an extension of the usual observer in its configuration. Compared with static observer‐based control method [16, 20, 33] the dynamic observer provides more freedom for meeting the trade‐off between different design specifications. In this paper, the main efforts have been made on exploring the potential benefits of dynamic observer for the DCUAV model uncertainties and external disturbances suppression issue.…”
Section: H∞${{{h}}_\infty }$ Do‐based Controller Designmentioning
confidence: 99%
“…Tωz${T_{\omega z}}\ $represents the transfer function from the disturbances ωfalse(tfalse)$\omega ( t )$ to the performance output zfalse(tfalse)$z( t )$ and γ is a given positive scalar. Remark The similar dynamic observer‐based controller structure has been considered in existing methods in the literature [21–26], the dynamic observer can be considered as an extension of the usual observer in its configuration. Compared with static observer‐based control method [16, 20, 33] the dynamic observer provides more freedom for meeting the trade‐off between different design specifications. In this paper, the main efforts have been made on exploring the potential benefits of dynamic observer for the DCUAV model uncertainties and external disturbances suppression issue.…”
Section: H∞${{{h}}_\infty }$ Do‐based Controller Designmentioning
confidence: 99%
“…Funnel Control. From [27,28], funnel control strategy can not only ensure the stability of the controlled system but also make the tracking error evolve within a prespecified performance funnel. Define the bounded domain of the performance funnel as…”
Section: Preliminariesmentioning
confidence: 99%
“…In reference [10], a robust backstepping‐based approach was proposed for trajectory tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties. A new control scheme integrating adaptive sliding mode disturbance observer with backstepping control was designed in reference [11] to deal with the problem of quadrotor in the presence of external disturbances. The robust H${H_\infty }$ networked security observer‐based reference tracking control scheme was proposed for quadrotor UAV with external disturbances and intrinsic random perturbations [12].…”
Section: Introductionmentioning
confidence: 99%