Sliding mode control for quadrotor with disturbance observer

Ahmed, Nigar; Chen, Mou

doi:10.1177/1687814018782330

Cited by 64 publications

(45 citation statements)

References 56 publications

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“…Using the final-value theorem to (A8), one has sE y (s) = 0. From (A10), we can infer that it is sufficient to derive the controller u(t) in (22) and (23) by applying the final-value theorem without the integral term. According to Theorem 1 and Theorem 2, SMC is reached and the perturbation is estimated by the perturbation estimator.…”

Section: Discussionmentioning

confidence: 99%

“…, N = C pid T QD pid1 , K P ∈ m×n , and K I ∈ m×p . To design the controller gain K consisting of K P and K I , we temporarily do not take the perturbation estimatord g (x, t) and the control law u(t) into consideration in (22) and (23). Both thed g (x, t) and u(t) will be discussed based on the final-value theorem in detail.…”

Section: Remarkmentioning

confidence: 99%

“…Solving the matrix P from the algebraic Riccati equation then the control gain K can be constructed. Notice that the PI gains in K are determined based on the linear model A pid , B pid1 , C pid , D pid1 first, then take the perturbation estimatord g (t) into consideration to determine the control law u(t) in (22) and (23), based on the final-value theorem which will be discussed in detail later.…”

Section: Remarkmentioning

confidence: 99%

“…Suppressing disturbance is the main target of SMC, but it cannot eliminate disturbance completely. Some researches utilize the disturbance estimators to overcome external disturbance [20,21]; the papers develop SMC to integrate with the disturbance estimator for the controlled system with undesired disturbance [22][23][24][25]. The authors of [25] propose the observer-based SMC for the controlled system with external disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

et al. 2019

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A robust linear quadratic analog tracker (LQAT) consisting of proportional-integral-derivative (PID) controller, sliding mode control (SMC), and perturbation estimator is proposed for a class of nonlinear systems with unknown nonlinear perturbation and direct feed-through term. Since the derivative type (D-type) controller is very sensitive to the state varying, a new D-type controller design algorithm is developed to avoid an unreasonable large value of the controller gain. Moreover, the boundary of D-type controller is discussed. To cope with the unknown perturbation effect, SMC is utilized. Based on the fast response of SMC controlled systems, the proposed perturbation estimator can estimate unknown nonlinear perturbation and improve the tracking performance. Furthermore, in order to tune the PID controller gains in the designed tracker, the nonlinear perturbation is eliminated by the SMC-based perturbation estimator first, then a hybrid Taguchi real coded DNA (HTRDNA) algorithm is newly proposed for the PID controller optimization. Compared with traditional DNA, a new HTRDNA is developed to improve the convergence performance and effectiveness. Numerical simulations are given to demonstrate the performance of the proposed method.

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Section: Discussionmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

et al. 2019

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“…The feedback law (39) performs exponential functions on the 2-norm of σ instead of three Euler angles used in [15]. In this way, the exponential functions-related computation is reduced.…”

Section: Multivariable High-order Sliding Mode (Hosm)-based Fixed-timmentioning

confidence: 99%

High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

et al. 2018

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This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.

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A novel sliding mode fault‐tolerant control strategy for variable‐mass quadrotor

Zhao

Ding

Jiang

et al. 2022

Intl J Robust & Nonlinear

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In this article, we investigate a fault‐tolerant control (FTC) for a class of quadrotors with variable mass and actuator faults. Firstly, a mathematical model of quadrotors considered variable‐mass factor is established based on Euler Newton's formula. Secondly, an adaptive estimation algorithm based on a fault observer is designed to achieve the estimations of variable mass and actuator fault, respectively. With the aim of obtaining satisfactory trajectory tracking performance, utilizing the variable mass estimation, a nonsingular terminal sliding mode controller is designed to track desired position. Meanwhile, utilizing the information of actuator fault estimation, an integral sliding mode controller is designed to track desired attitude. Finally, by comparison with the existing sliding mode control (SMC) and other FTC algorithm, the results show that the proposed FTC method has better tracking performance in the case of variable mass, fault and disturbance.

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Sliding mode control for quadrotor with disturbance observer

Cited by 64 publications

References 56 publications

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

Design of Robust Trackers and Unknown Nonlinear Perturbation Estimators for a Class of Nonlinear Systems: HTRDNA Algorithm for Tracker Optimization

High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System

A novel sliding mode fault‐tolerant control strategy for variable‐mass quadrotor

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