Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Tripathi, Vibhu Kumar; Kamath, Archit Krishna; Behera, Laxmidhar; Verma, Nishchal K.; Nahavandi, Saeid

doi:10.1049/iet-cta.2020.0348

Cited by 38 publications

(33 citation statements)

References 36 publications

(56 reference statements)

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“…The researches related to the quadrotors are extensive and many significant approaches, such as model predictive control [12] [13], sliding mode control [14][15] [16] and adaptive control [1][4][17] [18], have been used to design robust controllers for quadrotors. Reference [19] applied model predictive control for obtaining a precise trajectory with the forcible wind gusts.…”

Section: Introductionmentioning

confidence: 99%

Feedback Linearized Optimal Control Design for Quadrotor With Multi-Performances

Chen

2021

IEEE Access

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Design of tracking controller for quadrotor is an important issue for many engineering fields such as COVID-19 epidemic prevention, intelligent agriculture, military photography and rescue nowadays. This study applies the feedback linearized method and linear quadratic regulator (LQR) method using particle swarm optimization (PSO) to analysis and stabilize the highly nonlinear quadrotor system without applying any nonlinear function approximator that includes neural network approach and fuzzy approach. The article proposes a new method based on the firstly proposed convergence rate formula to achieve the optimal weighting matrices of LQR such that the composite controller can reduce the amplitudes of system control inputs. Determination of the LQR tuning parameters is conventionally achieved via trial and error approach. In addition to being very troublesome, it is difficult to find the globally best tuning matrices with LQR method. This article firstly uses the convergence rate formula of the nonlinear system as the fitness function of LQR approach by using PSO to take the place of the trial and error method. The generalities and implications of proposed approach are globally valid, whereas the Jacobian linearized approach is locally valid due to the Taylor expansion theorem. In addition to these two major achievements, the significant innovation of the proposed method is to possess "simultaneously" additional performances including the almost disturbance decoupling, input amplitude reduction, tuning parameter optimization and globally exponential stability performances. Comparative examples show that the convergence rate with our proposed optimal controller using the PSO algorithm is larger than the fuzzy method, and better than the singular perturbation method with high-gain feedback.INDEX TERMS Almost disturbance decoupling, COVID-19 epidemic prevention , feedback linearized approach, linear quadratic regulator, particle swarm optimization, quadrotor.

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Section: Introductionmentioning

confidence: 99%

Feedback Linearized Optimal Control Design for Quadrotor With Multi-Performances

Chen

2021

IEEE Access

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“…In this setting, there still remains an open challenging to design a more efficient scheme without sacrificing robust performance. Now along with the development of the control theory and the increasing demand for the high-performance tracking control, the finite-time control strategy has attracted extensive attention from researchers and engineers [6,8,13,20,21]. Its major merit is that the system state can converge to the equilibrium point after finite time rather than asymptotic convergence.…”

Section: Introductionmentioning

confidence: 99%

“…2) The second approach is to develop a continuous controller [10,23,24,33], however, it could lead to deterioration accuracy and low robustness. 3) Because the degree of the unexpected chattering is proportional to the magnitude of switching gains, some observers/approximators and adaptive approaches are designed to avoid choosing big switching gains [7,11,19,20,29,[34][35][36]. The afore-mentioned approaches so far solve the unwanted chattering, however, the fast finite-time nature disappears.…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, this is unrealistic for the practical engineering, and so it is highly desirable to realize a free angular velocity measurement. Hence far, this issue has been deeply studied in many literature [20,26,[38][39][40]. For instance, a learning observer-based adaptive algorithm was constructed to approximate the feedback velocity, which helps reduce the number of equipped sensors [26].…”

Section: Introductionmentioning

confidence: 99%

“…In [39], a saturated robust controller with only position measurement is proposed for a class of the motion system to overcome the problems of unknown friction, parametric uncertainty and actuator saturation. In addition to the aforesaid approaches, different finitetime observers are introduced in [20,40] as well, however the parameter uncertainty is not considered for the design of velocity observer. As we know, the rapid and precise reconstruction of angular velocity is very important for timely accommodation of fault and saturation; otherwise, it could cause system instability, even worse, catastrophic accidents.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

Kang

Wang

2021

Preprint

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This study considers the problem of finitetime attitude control for quadrotor unmanned aerial vehicles (UAVs) subject to parametric uncertainties, external disturbances, input saturation, and actuator faults. Under the strong approximation of radial basis function neural networks (RBFNN), an adaptive finitetime NN observer is first presented to obtain the accurate information of unavailable angular velocity. More importantly, an adaptive mechanism to adjust the output gain of the fuzzy logic system (FLS) is developed to avoid the selection of larger control gains, and can even work well without the prior information on the bound of the lumped disturbance. Based on the nonsingular fast terminal sliding mode manifold, a novel switching control law is designed by incorporating the adaptive FLS and fast continuous controller in order to remove the undesired chattering phenomenon and solve the negative effects induced from the parametric uncertainty, external disturbance, and actuator fault. To deal with the input saturation, an auxiliary system is constructed. The rigorous theoretical analysis is given to prove that all the signals in the closed-loop system are uniformly bounded, and tracking errors converge into bounded neighborhoods near the origin in finite time. Moreover, the issue of selecting control parameters is analyzed in detail. Last but not least, the comparative simulation results show the validity and feasibility of the proposed control framework.

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A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space

Tang,

Gao

2024

Intl J Robust & Nonlinear

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To improve tracking control performance in the task space of the Stewart parallel mechanism (SPM) with uncertainties of modeling errors and external disturbances in our developed rust removal sandblasting robot for the surface roughness processing of a bridge's steel box girder, a fixed‐time composite control with variable exponent coefficients (VEC‐FxTCC) approach for multi‐input multi‐output (MIMO) nonlinear robotic systems is developed. Firstly, by devising only one regulation term with a variable exponent coefficient (VEC) function in the system's Lyapunov differential inclusion, a novel VEC fixed‐time stability theorem for the MIMO nonlinear dynamic system is proposed and proven. Secondly, based on the proposed theorem, VEC‐FxTCC is formed by designing and combining a VEC fixed‐time disturbance observer (VEC‐FxTDOB) and a VEC fixed‐time super‐twisting control (VEC‐FxTSTC), in order to achieve fast, steady, and uniformly bounded‐time convergence for SPM's end‐effector tracking, while avoiding singularity. Finally, the effectiveness of the proposed VEC‐FxTCC approach is validated through the simulations and the rust removal sandblasting robot prototype experiments.

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Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor

Cited by 38 publications

References 36 publications

Feedback Linearized Optimal Control Design for Quadrotor With Multi-Performances

Feedback Linearized Optimal Control Design for Quadrotor With Multi-Performances

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

A Fixed‐Time Composite Control With Variable Exponent Coefficients for Stewart Parallel Mechanism Tracking in Task Space

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