Robust trajectory tracking control for a quadrotor using recursive sliding mode control and nonlinear extended state observer

Chen, Lulu; Liu, Zhenbao; Dang, Qingqing; Zhang, Wen; Wang, Guodong

doi:10.1016/j.ast.2022.107749

Cited by 43 publications

(18 citation statements)

References 39 publications

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“…Remark 2. Compared with ESO in [21,22] and STDO in [25,26], the proposed fixed-time UIO in Equation ( 26) does not include the sign function and the prior knowledge of the disturbance, so the observer is simple to design and there is no chattering when estimating the disturbance.…”

Section: Proof Of Theorem 1 Definementioning

confidence: 99%

“…The most efficient strategy for dealing with external disturbances, inertia uncertainties, and actuator faults is to compensate for their negative impacts on the system via exact estimation. As a result, numerous disturbance observer-based control approaches, such as those based on the extended state observer (ESO) [21,22], the super-twisting disturbance observer (STDO) [20,23,24], and the sliding mode disturbance observer (SMDO) [25,26], have been developed. Nonetheless, the observers mentioned above all require that disturbance is continuously differentiable and its derivative is bounded or known beforehand.…”

Section: Introductionmentioning

confidence: 99%

“…The fixed-time UIOs are designed to estimate the lumped disturbance for translational and rotational subsystems, with the estimation error able to converge to zero in fixed time. The proposed observer has three advantages and can overcome the limitations described in [20][21][22][23][24][25][26]. Firstly, it does not require prior knowledge of the upper bound of disturbance or its derivative.…”

Section: Introductionmentioning

confidence: 99%

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Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

Shao

Zhao

et al. 2023

Drones

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The trajectory tracking control problem of a quadrotor unmanned aerial vehicle (QUAV) subject to external disturbances, inertia uncertainties, actuator faults, and input saturation is addressed in this paper. In contrast with previous works, input saturation herein refers to rotor speed saturation rather than thrust and torque saturation. First, the control system is decoupled into translational and rotational subsystems. Then, for both subsystems, two novel fixed-time unknown input observers (UIO) based on disturbance filtering are developed to estimate the lumped disturbance rapidly and precisely without awareness of the boundary of disturbances. Furthermore, fixed-time tracking controllers for translational and rotational subsystems are proposed based on the estimation values provided by UIO to stabilize tracking errors into a small region in fixed time regardless of the initial values. The theoretical analysis based on the Lyapunov method is presented to demonstrate the stability. Finally, the simulation results show that the proposed control method is effective. The comparison simulation is carried out to validate superiority of the proposed observer and its advantage can be summed up as: (1) the upper bound of the disturbance or its derivative is not needed; (2) the estimation results are smoother and the observation precision is higher due to the absence of sign function; (3) the mutant disturbance can be also estimated quickly and precisely.

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Section: Proof Of Theorem 1 Definementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

Shao

Zhao

et al. 2023

Drones

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“…In Reference 35, a robust control algorithm was designed to address to the autonomous landing problem of quadrotor UAV on mobile platform. Paper 28 proposed a recursive SMC based on nonlinear extended state observer for the trajectory tracking of 6‐DOF hierarchical with external disturbances and uncertainties. In Reference 36, a non‐singular TSM controller was applied to follow desired quadrotor's position.…”

Section: Introductionmentioning

confidence: 99%

Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors

Labbadi

Defoort

Incremona

et al. 2023

Intl J Robust & Nonlinear

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In this article, a novel fractional‐order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The proposed control approach provides an easy‐to implement solution capable of zeroing the sliding variable in a finite‐time (FnT) by adding a fractional‐order command filter. Moreover, the reaching phase is eliminated, and FnT convergence of the system states is proved. The proposed technique has also a chattering alleviation property, which is beneficial for practical cases, as the control of quadrotor UAVs presented in the article. Finally, a simulation case study on a quadrotor system is illustrated to show the effectiveness of the proposed FORITSM control, also with respect to classical methods.

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“…To set the initial state of the controlled system on a sliding surface and satisfy the optimal switching motion, a new optimal integral switching function, based on a linear quadratic regulator, was applied to the CGSMC approach for missile-actuator servo systems with high uncertainty [24]. In [25], control methods based on perturbation observers have attracted broad interest as they can compensate for perturbations in the controller while guaranteeing the control performance. Fractional-order terminal SMC controllers have been proposed for position and attitude tracking control, and adaptive schemes have also been used to deal with unknown boundaries of external disturbances [26].…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

Ahn

You

2023

IEEE Access

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To enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve the performance of global sliding-mode control, allowing the initial value to quickly reach equilibrium. The main research is focused on deriving the finite settling time using the proposed decay function and presenting a detailed calculation process, instead of making a simple modification to a monotonic exponential-decay function. Moreover, we adopt an adaptive control law to ensure the robustness of the quadrotor, even without knowing the upper bound for disturbances. In addition, we perform time-varying mass simulations because the quadrotor's load mass may change during maneuvering. Furthermore, using the Lyapunov function, the stability of the entire closedloop system is ensured by the step-by-step stabilization of each subsystem. The simulation results show that the rapid global sliding-mode control (RGSMC) we designed is more effective than the conventional global sliding-mode control and adaptive sliding mode control with respect to stabilization and tracking against external disturbances. Hence, the fast decay property of the proposed global function is verified.

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Robust trajectory tracking control for a quadrotor using recursive sliding mode control and nonlinear extended state observer

Cited by 43 publications

References 39 publications

Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

Unknown Input Observer-Based Fixed-Time Trajectory Tracking Control for QUAV with Actuator Saturation and Faults

Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors

Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

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