Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Abstract

This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

“…The solution proposed in [126] is based on a continuous fast nonsingular TSM controller, augmented with an adaptive finite-time extended state observer. As opposed to the authors of [127][128][129] who developed finite-time extended state observers, where large gains are employed because of the lumped disturbances unknown bounds, an adaptive procedure is developed with less conservativeness. The fault control principle consists of a continuous fast nonsingular TSM controller, retained due to its fast response and robustness to uncertainties, and it accommodates actuator faults in a finite time as well.…”

Autonomous Control of Unmanned Aerial Vehicles

“…Due to their small size, autonomous UAVs are often sensitive to environmental disturbances such as wind gust. The contribution by Shi et al [14] deals with high precision attitude control for a quadrotor UAV subject to wind gust and actuator faults. Their control strategy is based on the online disturbance uncertainty estimation and attenuation method.…”

An Intuitive End-to-End Human-UAV Interaction System for Field Exploration

“…Both target flight direction and distance commands can be transmitted to the UAV easily and naturally. In addition, as a UAV equipped with a robotic arm has more model uncertainty than traditional UAVs and wind gust cannot usually be avoided when carrying out exploration tasks, a composite controller is designed by combining STESO (Shi et al, 2018b) and a back-stepping control method. As most of the disturbances, including wind gust and model uncertainties, are compensated by the feedforward compensator based on STESO, only a small switching gain is required in the controller.…”