Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

2016 ◽  
Vol 231 (14) ◽  
pp. 2537-2548 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Xiaozhe Chen ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Output Feedback ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Attitude Tracking ◽  
Uncertain Disturbances ◽  
Aerial Vehicle ◽  
System Output ◽  
Quaternion Representation

An output feedback observer-based dynamic surface controller is presented for attitude tracking problem of the quadrotor unmanned aerial vehicle, which is subject to measurement noise and external disturbances. The dynamics model of the quadrotor unmanned aerial vehicle is firstly introduced with the quaternion representation. Subsequently, a nonlinear augmented observer is introduced for simultaneously estimating the unavailable states and uncertain disturbances from the measurement of system output. The output feedback controller based on the nonlinear augmented observer is designed with the dynamic surface control technique. The Lyapunov stability analysis shows that the attitude tracking performance is ensured and all signals of the closed-loop system remain bounded. Finally, simulative and experimental results are carried out to illustrate, compared with other observer-based controller, the effectiveness of the proposed method is better.

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

2017 ◽  
Vol 67 (3) ◽  
pp. 245 ◽  
Author(s):  
Sudhir Nadda ◽  
A. Swarup
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Technique ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Aerial Vehicle

The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

Altitude and attitude active disturbance rejection controller design of a quadrotor unmanned aerial vehicle

2016 ◽  
Vol 231 (9) ◽  
pp. 1732-1745 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Dynamic Surface Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Dynamic Surface ◽  
Active Disturbance Rejection ◽  
Surface Control ◽  
Aerial Vehicle

This paper presents a new active disturbance rejection controller to solve the altitude and attitude control problem for a quadrotor unmanned aerial vehicle. The proposed method requires only the output information of the system. Using the pitch subsystem as an example, the proposed controller is designed by using dynamic surface control strategy incorporated with tracking differentiator, and extended state observer, which is used to estimate the uncertain disturbance. The estimate states of extended state observer are used to design the dynamic surface control law for altitude and attitude tracking problem of the quadrotor unmanned aerial vehicle. The stability analysis proves that a sufficient condition of the asymptotic stability of the extended state observer is achieved, the asymptotic stability of the closed-loop system can be guaranteed, and the tracking feedback error can made arbitrarily small by adjusting the controller parameters. Several simulation results are presented to corroborate that the proposed control method has better effectiveness and robustness.

Adaptive fault-tolerant tracking control of flying-wing unmanned aerial vehicle with system input saturation and state constraints

2021 ◽  
pp. 014233122110270
Author(s):  
Zhen Li ◽  
Xin Chen ◽  
Mingyang Xie ◽  
Zhenhua Zhao
Keyword(s):  
Reinforcement Learning ◽  
Unmanned Aerial Vehicle ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Input Saturation ◽  
Control Technique ◽  
Attitude Tracking ◽  
Aerial Vehicle ◽  
Fast Dynamic ◽  
Dynamic Subsystem

In this paper, an adaptive fault-tolerant attitude tracking controller based on reinforcement learning is developed for flying-wing unmanned aerial vehicle subjected to actuator faults and saturation. At first, the attitude dynamic model is separated into two dynamic subsystems as slow and fast dynamic subsystems based on the principle of time scale separation. Secondly, backstepping technique is adopted to design the controller. For the purpose of attitude angle constraints, the control technique based on Barrier Lyapunov is used to design controller of slow dynamic subsystem. Considering the optimization of the fast dynamic subsystem, this paper introduces an adaptive reinforcement learning control method in which neural network is used to approximate the long-term performance index and lumped fault dynamic. It is shown that this control algorithm can satisfy the requirements of attitude tracking subjected to the control constraints and the stability of the system is proved from Lyapunov stability theory. The simulation results demonstrate that the developed fault-tolerant scheme is useful and has more smooth control effect compared with fault-tolerant controller based on sliding mode theory.

Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle

2020 ◽  
Vol 42 (15) ◽  
pp. 2956-2968
Author(s):  
Bo Li ◽  
Hanyu Ban ◽  
Wenquan Gong ◽  
Bing Xiao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Dynamic Surface Control ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Dynamic Surface ◽  
Surface Control ◽  
Aerial Vehicle

This work presents a novel control strategy for the trajectory tracking control of the quadrotor unmanned aerial vehicle (UAV) with parameter uncertainties and external unknown disturbances. As a stepping stone, two fixed-time extended state observers (ESOs) are proposed to estimate the external disturbances and/or the parameter uncertainties for the position and attitude subsystems, respectively. Then, the fast terminal sliding mode-based improved dynamic surface control (DSC) approaches are developed. To eliminate the problem of “explosion of complexity” inherent in backstepping method-based controllers, the finite-time command filters and an error compensation signals are used in the design of the dynamic surface controllers. Subsequently, the practically finite-time stability of the closed-loop tracking system is guaranteed by utilizing the proposed control scheme. The simulation results are obtained to demonstrate the effectiveness and fine performance of the proposed trajectory tracking control approaches.

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