Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbances

Lazim, Izzuddin Mat; Husain, Abdul Rashid; Mohamed, Zulkifli; Basri, Mohd Ariffanan Mohd; Subha, Nurul Adilla Mohd; Ramli, Liyana

doi:10.1177/0142331219851925

Cited by 19 publications

(16 citation statements)

References 42 publications

(62 reference statements)

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“…Literature [29][30][31]45,[49][50][51] in the spacecraft field reports various kinematic models to describe the spacecraft motion's behavior. Derivation of the most reported model 31,43 is as follows.…”

Section: The Attitude Dynamics Of the Spacecraftmentioning

confidence: 99%

Synchronization control of externally disturbed chaotic spacecraft in pre-assigned settling time

Ahmad¹,

Shafiq

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article reports the design of a novel finite-time robust nonlinear controller for the synchronization of two identical chaotic spacecraft. The proposed controller does not cancel nonlinear terms appearing in the chaotic spacecraft dynamics. Avoiding the cancelation of the nonlinear terms of the plant by the controller makes the closed-loop robust stable in the presence of uncertainties in the chaotic spacecraft parameters; this concept blooms base for the design of computationally efficient simple control law. The proposed finite-time robust nonlinear controller (1) synchronizes two nearly identical chaotic spacecraft in finite-time duration, (2) expedites the convergence of errors vector to zero without oscillation, and (3) eradicates the effects of external disturbances. Analysis based on the Lyapunov second theorem proves that the synchronization error converges fast and verifying the closed-loop’s robust global stability. The finite-time stability technique affirms the convergence of the synchronization error to zero in settling time. This research article also studies the effects of the exogenous disturbances and the controller parameter’s slowly smooth variations on the closed-loop performance. The controller parameter variation analysis sets the procedure for tuning the controller parameters. The computer-based simulation results validate the theoretical findings and provide a comparative performance analysis with the other recently proposed synchronization feedback controllers. This article uses Mathematica 12.0 version in the Microsoft 10 environment for all the simulations.

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Section: The Attitude Dynamics Of the Spacecraftmentioning

confidence: 99%

Synchronization control of externally disturbed chaotic spacecraft in pre-assigned settling time

Ahmad¹,

Shafiq

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Nonetheless, these methods pay few attentions to the influences of unmeasurable lumped disturbances on PTC because the feedforward compensator, such as unscented Kalman filter and iterative extended Kalman filter are usually more powerful to estimate external disturbances. As a practical alternative method, active disturbance rejection control (ADRC) has been proved to be efficient in compensating lumped disturbances in many control systems, for example, see Ginoya et al (2016); Lazim et al (2019); Li et al (2011); Ren et al (2019); Wang et al (2016); Wang and Yuan (2018); Yang et al (2011). In the framework of the ADRC, an observer is constructed to estimate unknown disturbances and is used as a feedforward compensator with a feedback controller to reject the disturbances (Yi et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Optimal model predictive rejection control for nonlinear parabolic trough collector with lumped disturbances

Gao

Wei

2021

Transactions of the Institute of Measurement and Control

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It is challenging and crucial to achieve unbiased tracking control for parabolic trough collector field as it is vulnerable to various types of disturbances or uncertainties such as unmeasured external disturbances, parameter perturbation and model mismatch. To solve this issue, an optimal model predictive rejection control strategy is put forward in a composite designed manner, in which all disturbances/uncertainties are dealt with as lumped disturbances. A generalized extended state observer is firstly employed to estimate the lumped disturbances, and then a feedback controller is devised based on optimal model predictive control to compensate the influences of the lumped disturbances on output. Stability analysis of the closed-loop system has been presented. It shows that the proposed composite controller can track given references without offset in the presence of lumped disturbances while not sacrificing its nominal performance in the absence of disturbances. Simulations conducted on a numerical example and a practical application for parabolic trough collector validate our conclusions.

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“…Due to their simple structure, high mobility, lightweight, and stable hovering. The quadrotor is a typical kind of unmanned aerial vehicle (UAV) equipped with four rotors that are aligned with direction, sensors, power storage, and DC motor (Lazim et al, 2019; Wu et al, 2018). Nevertheless, the quadrotor control is not an easy task because of its nonlinear dynamics and aerodynamic disturbances (Izaguirre-Espinosa et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Global exponential stabilization of a quadrotor by hybrid control

Hashemi

Pariz

Sani

2021

Transactions of the Institute of Measurement and Control

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The main purpose of this paper is to introduce a hybrid controller for global attitude tracking of a quadrotor. This controller globally exponentially stabilizes the desired attitude, a task that is impossible to accomplish with memoryless discontinuous or continuous state feedback owing to topological obstruction. Thereafter, this paper presents a new centrally synergistic potential function to construct hybrid feedback that defeats the topological obstruction. This function induces a gradient vector field to globally asymptotically stabilize the reference attitude and produces the synergy gap to generate a switching control law. The proposed control structure is consisting of two major parts. In the first part, a synergetic controller is designed to cooperate with the hybrid controller, whereas it exponentially stabilizes the origin of the error dynamics. In the second part, a hybrid controller is introduced to globally stabilize the attitude of the quadrotor, where an average dwell constraint is considered with the switching control law to guarantee the exponential stability of the switched system. Finally, the effectiveness and superiority of the proposed control technique are validated by a comparative analysis in simulations.

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Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbances

Cited by 19 publications

References 42 publications

Synchronization control of externally disturbed chaotic spacecraft in pre-assigned settling time

Synchronization control of externally disturbed chaotic spacecraft in pre-assigned settling time

Optimal model predictive rejection control for nonlinear parabolic trough collector with lumped disturbances

Global exponential stabilization of a quadrotor by hybrid control

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