Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors

2020 ◽  
Author(s):  
Qi Lu ◽  
Beibei Ren ◽  
Yuan-dong Ji
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Moving Target ◽  
Simulation Studies ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Target Region ◽  
Control Framework ◽  
Uncertainty And Disturbance Estimator ◽  
Disturbance Estimator

Abstract In this paper, the decentralized uncertainty and disturbance estimator (UDE)-based robust region reaching controller is developed to drive a swarm of quadrotors with the full degrees-of-freedom, nonlinear, coupled and underactuated dynamics to track the trajectory of a moving target region while avoiding collisions among themselves. The backstepping technique is utilized to seamlessly fuse the UDE into the region reaching control framework with the function of estimating and compensating the model uncertainties and external disturbances. Simulation studies are carried out to demonstrate the effectiveness of the proposed method for achieving the moving target trajectory tracking even in the presence of external disturbances.

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

scholarly journals Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Carlos Alberto Chavez Guzmán ◽  
Luis Tupak Aguilar Bustos ◽  
Jován Oseas Mérida Rubio
Keyword(s):  
Lyapunov Function ◽  
Degrees Of Freedom ◽  
Gravitational Force ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Global Asymptotical Stability ◽  
Simulation Studies ◽  
External Disturbances ◽  
Analysis And Synthesis ◽  
Force Compensation

The H∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies. A solution to the global nonlinear H∞ regulation problem for l-degrees-of-freedom (l-DOF) robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the H∞ control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear H∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.

scholarly journals Fixed-Time Trajectory Tracking Control of Autonomous Surface Vehicle with Model Uncertainties and Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Jiawen Cui ◽  
Haibin Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Fixed Time ◽  
Convergence Time ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode ◽  
Control Scheme

The issue of fixed-time trajectory tracking control for the autonomous surface vehicles (ASVs) system with model uncertainties and external disturbances is investigated in this paper. Particularly, convergence time does not depend on initial conditions. The major contributions include the following: (1) An integral sliding mode controller (ISMC) via integral sliding mode surface is first proposed, which can ensure that the system states can follow the desired trajectory within a fixed time. (2) Unknown external disturbances are absolutely estimated by means of designing a fixed-time disturbance observer (FTDO). By combining the FTDO and ISMC techniques, a new control scheme (FTDO-ISMC) is developed, which can achieve both disturbance compensation and chattering-free condition. (3) Aiming at reconstructing the unknown nonlinear dynamics and external disturbances, a fixed-time unknown observer (FTUO) is proposed, thus providing the FTUO-ISMC scheme that finally achieves trajectory tracking of ASVs with unknown parameters. Finally, simulation tests and detailed comparisons indicate the effectiveness of the proposed control scheme.

Robust Attitude Tracking Control for a Quadrotor Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Author(s):  
Jiguo Dai ◽  
Qi Lu ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Experimental Studies ◽  
Attitude Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Error Dynamics ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

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