Anti-Disturbance Control for Quadrotor UAV Manipulator Attitude System Based on Fuzzy Adaptive Saturation Super-Twisting Sliding Mode Observer

Abstract

Aerial operation with unmanned aerial vehicle (UAV) manipulator is a promising field for future applications. However, the quadrotor UAV manipulator usually suffers from several disturbances, such as external wind and model uncertainties, when conducting aerial tasks, which will seriously influence the stability of the whole system. In this paper, we address the problem of high-precision attitude control for quadrotor manipulator which is equipped with a 2-degree-of-freedom (DOF) robotic arm under disturbances. We propose a new sliding-mode extended state observer (SMESO) to estimate the lumped disturbance and build a backstepping attitude controller to attenuate its influence. First, we use the saturation function to replace discontinuous sign function of traditional SMESO to alleviate the estimation chattering problem. Second, by innovatively introducing super-twisting algorithm and fuzzy logic rules used for adaptively updating the observer switching gains, the fuzzy adaptive saturation super-twisting extended state observer (FASTESO) is constructed. Finally, in order to further reduce the impact of sensor noise, we invite a tracking differentiator (TD) incorporated into FASTESO. The proposed control approach is validated with effectiveness in several simulations and experiments in which we try to fly UAV under varied external disturbances.

Finite-Time Attitude Control With Chattering Suppression for Quadrotors Based on High-Order Extended State Observer

“…Researches on attitude control schemes for quadrotors have conducted abundant of advanced approaches in recent years. For instance, backstepping control [9]- [10], active disturbance rejection control [11]- [12], sliding mode control (SMC) [13]- [14] and the like.…”

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

“…It should be noted that there are many research methods for robotic arms under certain circumstances. The most widely used approaches are to combine the backstepping control strategy with adaptive control [10][11][12][13][14]. Yang [10] designed an adaptive neural finite-time controller.…”

“…An adaptive H infinity fault-tolerant controller was proposed in [12]. [13] and [14] combined manipulator systems and adaptive fuzzy logic systems to design the controllers. The other tracking control research was based on robust control method [15,16].…”

Antidisturbance Control for AUV Trajectory Tracking Based on Fuzzy Adaptive Extended State Observer

“…In [ 27 ], a fuzzy extended-state-observer-based sliding mode controller is proposed to control chaos in the permanent magnet synchronous motor (PMSM). In [ 28 ], fuzzy logic rules have been used in the super-twisting extended state observer (STESO) for the quadrotor UAV manipulator attitude system.…”