Fixed-time robust trajectory tracking control for quadrotor UAV with disturbances

Shao, Shikai; Wang, Shu; Zhao, Yujia; Huang, Gongfa

doi:10.1177/01423312221123956

Cited by 4 publications

(2 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The ADRC, which has an Extended State Observer(ESO), can online estimate and compensate the internal and external disturbances [18]. The effectiveness of the ESO can be found in the following references ( [19]- [24]. For example, a fixed-time ESO was given in [19] to observe the unmeasurable velocity and unknown external disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…The effectiveness of the ESO can be found in the following references ( [19]- [24]. For example, a fixed-time ESO was given in [19] to observe the unmeasurable velocity and unknown external disturbances. Liu et al suggested a nonlinear adaptive backstepping controller with ESO for trajectory tracking of a QUAV subject to multiple disturbances in [20].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Weng,

Wei,

et al. 2024

IEEE Access

View full text Add to dashboard Cite

In this paper, the cascaded controllers, which combine the adaptive sliding mode control and recursive technique, are presented to control the quadrotor unmanned aerial vehicles with time-varying load and unknown disturbances. In the outer-loop control subsystem, an adaptive sliding mode controller, which includes the adaptive laws estimating the time-varying load and unknown disturbances, is presented to control the position of quadrotor. In the inner-loop control subsystem, an adaptive recursive sliding mode controller, which includes a self-turning law estimating the unknown inner-loop disturbances, is designed to control the attitude of quadrotor. Moreover, a nonsingular terminal sliding mode surface is given to converge the tracking error of attitude angles to zero in a finite time; and an integral sliding mode surface is designed in the adaptive recursive sliding mode controller to improve the attitude control performance of quadrotor. Simultaneously, the adaptive gain adjustment laws are given to estimate those unknown upper bounds of the disturbances in the system. In the end, the efficiency and feasibility of the proposed control method are demonstrated by some computer simulations.INDEX TERMS Unmanned aerial vehicle, time-varying load, trajectory tracking control, adaptive control, unknown disturbance.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Weng,

Wei,

et al. 2024

IEEE Access

View full text Add to dashboard Cite

show abstract

Adaptive Predefined-Time Tracking Control of Quadrotor Unmanned Aerial Vehicle Based on Sliding Mode Technique and RBF NN

Zhang,

Sha,

Miao

et al. 2024

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

Adaptive super-twisted sliding mode trajectory tracking control for quadrotor UAV with prescribed performance based on finite-time disturbance observer

Liang,

Li,

Zhang

2024

Eng. Res. Express

View full text Add to dashboard Cite

This study proposes a finite-time disturbed observer-based prescriptive performance adaptive super twisted sliding mode trajectory tracking control scheme for quadrotor UAV, which fully considers the dynamic characteristics of the position and attitude loops. Based on the super-twisted sliding mode algorithm, adaptive control, finite-time theory, and prescribed performance control, this scheme aims to stabilize the tracking of a quadrotor UAV along a prescribed trajectory. This is achieved even when faced with challenges such as modeling uncertainty, external uncertainty, and complex interference environments. Firstly, the complexity of controller design is simplified by transforming the trajectory tracking problem into a command tracking problem for the position and attitude system loops. Secondly, the coupling between the channels and the disturbance effects are unified as the aggregate disturbance. To address the issue of the adverse impact of aggregate disturbance on system performance, a new finite-time disturbance observer is developed to estimate the overall disturbance. The observer can effectively eliminate the negative effects of the aggregate disturbance without considering the disturbed boundary conditions during the design process. This enhances the observer's adaptability in practical applications. Then, the disturbance estimation information and the adaptive super-twisted algorithm are used to construct the adaptive super-twisted sliding mode controllers for the position and attitude loops, respectively. Additionally, a prescribed performance control is designed to predefined the time for the position loop to effectively suppress the deleterious effects of interference. This ensures that the position system can quickly meet the prescribed tracking requirements. Finally, the stability of the designed trajectory tracking control system is demonstrated using the Lyapunov theorem. Numerical simulation results verify the effectiveness and superiority of the proposed controller.

show abstract

Fixed-time robust trajectory tracking control for quadrotor UAV with disturbances

Cited by 4 publications

References 37 publications

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Adaptive Predefined-Time Tracking Control of Quadrotor Unmanned Aerial Vehicle Based on Sliding Mode Technique and RBF NN

Adaptive super-twisted sliding mode trajectory tracking control for quadrotor UAV with prescribed performance based on finite-time disturbance observer

Contact Info

Product

Resources

About