Model-free control of quad-rotor vehicle via finite-time convergent extended state observer

Zhao, Dangjun; Yang, Dongkai

doi:10.1007/s12555-013-0355-7

Cited by 44 publications

(18 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To make a quantitative comparison between the results of the tracking performances obtained for the quadrotor, we consider the integral absolute error (IAE) [37] performance indexes for the three-tracking-controller method. Accordingly, the IAE performance indexes for the quadrotor are listed in Table 1.…”

Section: Simulationmentioning

confidence: 99%

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Abadi

Amraoui

Mekki

et al. 2020

IET Control Theory & Applications

View full text Add to dashboard Cite

Section: Simulationmentioning

confidence: 99%

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Abadi

Amraoui

Mekki

et al. 2020

IET Control Theory & Applications

View full text Add to dashboard Cite

“…The quadrotor is symmetrical about the O x b z b and O y b z b in the body-fixed frame. Gyroscopic moments are ignored for simplicity (Zhao and Yang, 2016). The dynamic equations of the quadrotor are given as follows…”

Section: Preliminariesmentioning

confidence: 99%

Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization- based backstepping control with sliding mode extended state observer

Wang

Cai

et al. 2020

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

In this paper, a new swarm intelligent-based backstepping control scheme is proposed for quadrotor trajectory tracking and obstacle avoidance. First, the sliding mode extended state observer (SMESO) is used to estimate different disturbances, and the tracking differentiator (TD) is integrated to enhance the performance of backstepping control scheme. Then, the chaotic grey wolf optimization (CGWO) is developed with chaotic initialization and chaotic search to optimize the parameters of attitude and position controllers. Further, the virtual target guidance approach is proposed for quadrotor trajectory tracking and obstacle avoidance. Comparative simulations and Monte Carlo tests are carried out to demonstrate the effectiveness and robustness of the CGWO-based backstepping control scheme and virtual target guidance approach.

show abstract

“…In this section, the comparison of MDRFTC with the control command (12) and (22) names robust fixed time controll without considering motor dynamics is conducted to verify the efficiency of the proposed control method. Two scenarios are conducted with different motor time constants of system (3) which are set to be 10 and 20 ms, respectively.…”

Section: Tracking Trajectory With and Without Considering Motor Dynamicsmentioning

confidence: 99%

“…21 And it is also widely used in quadrotor control to compensate the adverse impact to the system caused by disturbance. [22][23][24][25][26] Xingling Shao et al 27 present an ESO-based robust dynamic surface trajectory tracking controller for a quadrotor subject to parametric uncertainties and external disturbances. ESO is constructed to estimate online the unmeasurable velocity states and lumped disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

Shang

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.

show abstract

Model-free control of quad-rotor vehicle via finite-time convergent extended state observer

Cited by 44 publications

References 29 publications

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization- based backstepping control with sliding mode extended state observer

Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

Contact Info

Product

Resources

About