Finite-time stable disturbance observer for unmanned aerial vehicles

Bhale, P.; Kumar, Mrinal; Sanyal, Amit K.

doi:10.23919/acc53348.2022.9867308

Cited by 6 publications

(13 citation statements)

References 28 publications

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“…Similar relations hold for  and  * . Thus, with  as the solution to (19), we consider the following Lyapunov candidate:…”

Section: Hölder-continuous Fast Finite-time Stable Differentiator (Hc...mentioning

confidence: 99%

“…Cui et al 18 use an adaptive super-twisting ESO for the disturbance estimation. Bhale et al 19 carry out disturbance estimation with the discrete-time finite-time stable (FTS) disturbance observer by Sanyal 20 .…”

Section: Introductionmentioning

confidence: 99%

“…In the proposed ESO, which is the core of the proposed ADRC scheme, the pose of the rotorcraft is represented directly on the Lie group of rigid body transformations, the special Euclidean group SE(3). Unlike the ESO and DO designs reported by Mechali et al 13 , Shao et al 11 , and Cui et al 18 , which use Euler angles or quaternions for attitude representation or do not include attitude kinematics, like the DO by Bhale et al 19 in disturbance torque estimation, the pose of the aircraft in this article is represented in SE(3)to avoid kinematic singularities. We do not use local coordinates (like Euler angles) or (dual) quaternions for pose representation so that we avoid singularities due to local coordinate representations or quaternion unwinding, as reported by Bhat et al 25 , and Chaturvedi et al 26 .…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Geometric Active Disturbance Rejection Control of Rotorcraft on SE(3) with Fast Finite-Time Stability

Wang

Hamrah

Sanyal

et al. 2023

Preprint

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This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an underactuated system on the tangent bundle of the six-dimensional Lie group of rigid body motions, S E ( 3 ) . The extended state observer is designed to estimate the resultant external disturbance force and disturbance torque acting on the vehicle. It guarantees stable convergence of disturbance estimation errors in finite time when the disturbances are constant and finite time convergence to a bounded neighborhood of zero errors for time-varying disturbances. This extended state observer design is based on a Hölder-continuous fast finite time stable differentiator that is similar to the super-twisting algorithm, to obtain fast convergence. A tracking control scheme that uses the estimated disturbances from extended state observer for disturbance rejection, is designed to achieve fast finite-time stable tracking control. Numerical simulations are conducted to validate the proposed extended state observer and tracking control scheme with disturbance rejection. The proposed extended state observer is compared with other existing research to show its supremacy.

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“…Similar relations hold for  and  * . Thus, with  as the solution to (19), we consider the following Lyapunov candidate:…”

Section: Hölder-continuous Fast Finite-time Stable Differentiator (Hc...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Geometric Active Disturbance Rejection Control of Rotorcraft on SE(3) with Fast Finite-Time Stability

Wang

Hamrah

Sanyal

et al. 2023

Preprint

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show abstract

“…Subsequently, many DOs such as a linear DO, 22 exponential DOs, 23,24 sliding mode DOs 25,26 and finite-time DOs 27,28 are respectively researched on estimating these adverse effects. Extensive and wide applications are carried out in various fields including underwater vehicles, 29 permanent magnet synchronous motors, 30,31 unmanned aerial vehicles, [32][33][34] and so forth. From a remarkable observation performance point of view, FXDOs can be designed and applied.…”

Section: Introductionmentioning

confidence: 99%

Fixed‐time sliding mode trajectory tracking control for marine surface vessels under mismatched conditions and input saturation

Zhang,

Yu,

Yan

et al. 2024

Intl J Robust & Nonlinear

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SummaryThis paper addresses a trajectory tracking control problem for marine surface vessels (MSVs) in the presence of mismatched conditions and input saturation. Firstly, an MSV model under mismatched conditions is established to solve the problem of unreasonable modeling methods in the existing literature. Secondly, fixed‐time disturbance observers (FXDOs) are designed, where the designed FXDOs not only avoid selecting complicated parameters but also has simple structures, and the disturbance estimation errors can converge to the origin within a setting time. Thirdly, based on the FXDOs and an anti–saturation auxiliary dynamic system, a trajectory tracking control scheme in the presence of mismatched conditions and input saturation is constructed by virtue of fixed‐time integral sliding mode control (SMC), and the actual tracking error signals are uniformly fixed‐time bounded rather than finite‐time one. Fourthly, in order to decrease theoretical calculation values of the original setting time in fixed‐time control, the new setting time under three different parameter conditions is derived, and thus reducing the conservatism. Finally, the simulation results are provided to show the effectiveness and superiority of the designed tracking control scheme.

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“…These advantages include its ability to handle unknown or time-varying disturbances, faster and more accurate disturbance rejection, not requiring exact knowledge of the system model, and simpler implementation in a more computationally efficient manner. The pose tracking controller given here uses a finite-time stable and Hölder-continuous disturbance observer (FTS-DO) 18 . This FTS-DO was used in our recent work 19 for stable and robust position tracking control.…”

Section: Introductionmentioning

confidence: 99%

Stable and Robust Discrete-time Tracking Control of Unmanned Vehicles Using a Finite-Time Stable Disturbance Observer

Hamrah

Sanyal

2023

Preprint

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This work provides an asymptotically stable and robust tracking control scheme using a finite-time stable disturbance observer in the feedback loop, for an unmanned vehicle modeled as a rigid body. The dynamics of the system is discretized using a Lie group variational integrator in the form of a “gray box” dynamics model that also accounts for unknown additive disturbance force and torque. These disturbance terms are estimated using the finite-time stable disturbance observer in real-time and then compensated by the control scheme. The stability analysis for translational and rotational motions is carried out separately. It is shown that the discrete-time control laws achieve asymptotically stable tracking of the reference position and attitude trajectories.

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Finite-time stable disturbance observer for unmanned aerial vehicles

Cited by 6 publications

References 28 publications

Geometric Active Disturbance Rejection Control of Rotorcraft on SE(3) with Fast Finite-Time Stability

Geometric Active Disturbance Rejection Control of Rotorcraft on SE(3) with Fast Finite-Time Stability

Fixed‐time sliding mode trajectory tracking control for marine surface vessels under mismatched conditions and input saturation

Stable and Robust Discrete-time Tracking Control of Unmanned Vehicles Using a Finite-Time Stable Disturbance Observer

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