Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization- based backstepping control with sliding mode extended state observer

2020 ◽  
Vol 42 (9) ◽  
pp. 1675-1689 ◽  
Author(s):  
Yingxun Wang ◽  
Yan Ma ◽  
Zhihao Cai ◽  
Jiang Zhao
Keyword(s):  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Extended State Observer ◽  
Grey Wolf ◽  
Extended State ◽  
Grey Wolf Optimization ◽  
Control Scheme ◽  
Virtual Target

In this paper, a new swarm intelligent-based backstepping control scheme is proposed for quadrotor trajectory tracking and obstacle avoidance. First, the sliding mode extended state observer (SMESO) is used to estimate different disturbances, and the tracking differentiator (TD) is integrated to enhance the performance of backstepping control scheme. Then, the chaotic grey wolf optimization (CGWO) is developed with chaotic initialization and chaotic search to optimize the parameters of attitude and position controllers. Further, the virtual target guidance approach is proposed for quadrotor trajectory tracking and obstacle avoidance. Comparative simulations and Monte Carlo tests are carried out to demonstrate the effectiveness and robustness of the CGWO-based backstepping control scheme and virtual target guidance approach.

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

Electronics ◽  
2018 ◽  
Vol 7 (12) ◽  
pp. 357 ◽  
Author(s):  
Chunlin Song ◽  
Changzhu Wei ◽  
Feng Yang ◽  
Naigang Cui
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Fixed Time ◽  
High Order ◽  
Extended State Observer ◽  
Active Disturbance Rejection Control ◽  
Extended State ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

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.

scholarly journals Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3305 ◽  
Author(s):  
Gang Wang ◽  
Chenghui Zhou ◽  
Yu Yu ◽  
Xiaoping Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode

When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

Characteristic model–based adaptive fault-tolerant control for four-PMSM synchronization system

2020 ◽  
pp. 095965182095174
Author(s):  
Yang Gao ◽  
Yifei Wu ◽  
Xiang Wang ◽  
Qingwei Chen
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
System Control ◽  
Extended State ◽  
Characteristic Model ◽  
Control Scheme ◽  
Motor Information

In four-motor servo systems, actuator failures influence control performance seriously through huge inertia ratio changes and unknown disturbances. To solve this problem, an adaptive fault-tolerant control scheme based on characteristic modeling and extended state observer is proposed. First, an adaptive sliding mode observer is designed as fault detection part and offers motor information for controller. Second, to simplify complex dynamic model, this servo system is described by a second-order difference equation. This model integrates uncertainties into three time–varying characteristic parameters to reflect system status. Third, a discrete-time extended state observer is applied to restrain system error caused by actuator failure. Then, a fault-tolerant controller is designed based on characteristic model, and its stability is guaranteed in the sense of Lyapunov stability theorem. These four parts make up the adaptive control scheme and its effectiveness in system control, and fault tolerant is evaluated by both simulation and experiment results.

Extended state observer based control scheme for the A-EHPS with load pressure estimation

2017 ◽  
Vol 231 (13) ◽  
pp. 1858-1873 ◽  
Author(s):  
Cheng Shuai ◽  
Song Jian
Keyword(s):  
Sliding Mode ◽  
Steering System ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Actual System ◽  
Load Pressure ◽  
Quality Of Control ◽  
Control Scheme ◽  
Hydraulic Power Steering

The accumulative electro-hydraulic power steering system (A-EHPS) is essentially an electro-hydraulic servo system with high parametric uncertainties and nonlinearities that are caused by the characteristics of the hydraulic system. The throttle structure in the steering gear and the on-way resistance increase the control difficulty of the plant. This paper reports the construction of a mathematical model that contains the throttle structure and the on-way resistance for the A-EHPS system. Furthermore, an extended state observer and a sliding mode controller are synthesized to estimate uncertain nonlinear components and improve the quality of control in the A-EHPS. The uncertain nonlinear parts contain important information on the high-pressure chamber’s load pressure, which cannot be directly measured. That is, the proposed control scheme can be used to estimate steering resistance, which is essential for the top-layer control strategy. Simulations are performed to validate the control performance and the parameter design principle of the proposed extended state observer scheme. The scheme is then implemented in an actual system, and its robustness advantages over traditional controllers are verified.

scholarly journals Integral Sliding Mode Backstepping Control of an Asymmetric Electro-Hydrostatic Actuator Based on Extended State Observer

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 13
Author(s):  
Shuzhong Zhang ◽  
Su Li ◽  
Fuquan Dai
Keyword(s):  
Pid Controller ◽  
Sliding Mode ◽  
State Observer ◽  
Backstepping Control ◽  
Extended State Observer ◽  
Installation Space ◽  
Distribution Analysis ◽  
Extended State ◽  
Integral Sliding Mode ◽  
Backstepping Controller

To provide high output force and to reduce the installation space, the electro-hydrostatic actuator (EHA) usually adopts asymmetric cylinder. However, comprehensive effects produced by its asymmetric flow, parameter uncertainties and unknown disturbance make it difficult to achieve high-accuracy position control. This paper proposed an integral sliding mode backstepping control (ISMBC) based on extended state observer for the asymmetric EHA. Firstly, the principle of the EHA was analyzed and an EHA model was built. Furthermore, the state space equation of the EHA was established based on flow distribution analysis. Two extended state observers (ESO) were designed to achieve real-time estimation of the unmeasured system states, unmatched and matched disturbances. The backstepping method was used to compensate the matched and unmatched disturbance, and an integrated sliding mode controller was developed to eliminate the static error and to improve the response ability. Theoretical analysis indicates that the controller can guarantee the desired tracking performance for the actuator under time-varying unmatched disturbances, and can make the tracking error asymptotically converge to zero under constant matched disturbances. Finally, simulations were performed with the designed controller, backstepping controller and proportional–integral–derivative (PID) controller, respectively. Thereafter, detailed comparisons of the control performances were provided. The results show that the proposed controller can achieve better position tracking and stronger robustness in parameter changing compared with the backstepping controller and PID controller.

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