Parameter Design Constraints of UDE-Based Control under Non-ideal Actuators

Xu, Linxi; Qin, Kaiyu; Zhu, Yang; Li, Weihao; Shi, Mengji

doi:10.23919/ccc55666.2022.9902739

Cited by 2 publications

(7 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Theorem 1. Under Assumption 1, if the condition ( 20) is satisfied, the error dynamic system (38) with f l as input is input-to-state stable (ISS) and the tracking error e 1 is globally bounded.…”

Section: Analysis Of the Proposed Controllermentioning

confidence: 99%

“…In [37], the control inputs are considered to suffer from saturation effects owing to the physically limited nature, but the dynamics that characterize the transient response of the actuator are not taken into account. Ignoring transient response due to actuator dynamics can lead to performance degradation and even a loss of stability [38]. In our work, the actuator dynamics are considered as a first-order plus time-delay (FOPTD) model, which is verified by [23,24].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Novel Attitude Control Strategy for a Quadrotor Drone with Actuator Dynamics Based on a High-Order Sliding Mode Disturbance Observer

Xu,

Qin,

Tang

et al. 2024

Drones

Self Cite

View full text Add to dashboard Cite

In the attitude control of quadrotor drones, it is necessary to cope with matched and unmatched disturbances caused by nonlinear couplings, model uncertainties, and external disturbances, as well as to consider the effects caused by actuator dynamics. Aiming to accurately track desired trajectories under the above factors, a novel control strategy is proposed by combining a state feedback control with a high-order sliding mode disturbance observer (HOSMDO). The HOSMDO is motivated by the higher-order sliding mode (HOSM) differentiator and extended state observer (ESO) technique, allowing for the exact robust estimation of disturbances and their arbitrary order derivatives in finite time. Unlike the control schemes based on back-stepping methods, the proposed controller is designed with a holistic mindset. Specifically, a baseline feedback framework is constructed firstly, and the disturbances and relevant derivatives required for the baseline framework are then generated by the HOSMDOs to obtain the overall control scheme. The stability conditions of the controllers designed with and without considering the actuator dynamics are analyzed separately. In the latter case, the actuator dynamics imposed additional constraints on the control parameters. Numerical simulations validate the effectiveness of the proposed control strategy.

show abstract

Section: Analysis Of the Proposed Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Attitude Control Strategy for a Quadrotor Drone with Actuator Dynamics Based on a High-Order Sliding Mode Disturbance Observer

Xu,

Qin,

Tang

et al. 2024

Drones

Self Cite

View full text Add to dashboard Cite

show abstract

“…Considering the changes in variables ( 31) and ( 32) in ( 24) and combining with ( 29), (30), and (20), yields ė2…”

Section: Stepmentioning

confidence: 99%

“…Up to this point, the controller for the second loop of system (7) has been obtained, which consists of ( 25), (29), and (30) with parameters constrained by (44). The controller is cascaded with the controller designed in the previous step, ensuring the boundedness of the tracking error s 1 when s 3 , ḟ1 , ḟ2 , and ẍ1d are bounded.…”

Section: Stepmentioning

confidence: 99%

“…Ignoring the actuator dynamics during control design can result in a significant deterioration in performance or even a loss of stability. This is because the relationship between the controller parameters and the system bandwidth needs to adhere to the limitations imposed by the dynamics of the actuator to guarantee system stability, as demonstrated in the author's previous work [30]. In most cases, actuator dynamics are approximated by a first-order model [31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Qin

Tang

et al. 2023

Drones

Self Cite

View full text Add to dashboard Cite

Quadrotor drone attitude tracking is inevitably affected by the combination of model uncertainties, external disturbances, and non-ideal actuator dynamics during stable flight and complex maneuvers. In order to achieve precise attitude control in these situations, a cascade-structured dynamic surface control (DSC) strategy is proposed based on an uncertainty and disturbance estimator (UDE), considering the actuator dynamics as represented by a first-order plus time-delay model. The DSC scheme is used to transform the original attitude dynamics system into a set of interconnected subsystems. On the one hand, the mismatched disturbances in the attitude kinematics and dynamics loops are converted into matched disturbances to accommodate the structural constraints of the UDE so that these disturbances, as well as the non-ideality caused by the actuator time delay, are estimated and compensated for by the approach. On the other hand, the “complexity explosion” problem is addressed by the first-order filter employed by DSC. The ultimate boundedness of the closed-loop system is proven while the parameter design constraints are provided. MATLAB Simulink simulations are conducted to demonstrate the desirability of considering actuator dynamics and to verify that the proposed control strategy can relax the constraints of the control parameters and enable a higher accuracy.

show abstract

Parameter Design Constraints of UDE-Based Control under Non-ideal Actuators

Cited by 2 publications

References 19 publications

A Novel Attitude Control Strategy for a Quadrotor Drone with Actuator Dynamics Based on a High-Order Sliding Mode Disturbance Observer

A Novel Attitude Control Strategy for a Quadrotor Drone with Actuator Dynamics Based on a High-Order Sliding Mode Disturbance Observer

UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Contact Info

Product

Resources

About