Robust Attitude Control of Quadrotor Vehicle via Extended State Observer

2013 ◽  
Vol 373-375 ◽  
pp. 1445-1448 ◽  
Author(s):  
Dang Jun Zhao ◽  
Bing Yan Jiang
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Attitude Tracking ◽  
Mode Method ◽  
Attitude Tracking Control ◽  
Feedback Control Strategy

Extended state observer (ESO) based output-feedback control strategy is proposed for the attitude control of a quadrotor aerial vehicle in this paper. By using ESO technique, the generalized disturbances are estimated from output signals. According to the sliding mode method, the attitude controller with disturbance compensations is proposed for the attitude tracking control of a quadrotor vehicle. The theoretical analysis reveals that all signals in the closed-loop system are ultimately uniformly bounded. The simulation results validate the efficiency of the proposed method.

Robust dynamic surface sliding mode control for attitude tracking of flexible spacecraft with an extended state observer

2016 ◽  
Vol 231 (3) ◽  
pp. 533-547 ◽  
Author(s):  
Chengbao Zhou ◽  
Di Zhou
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Flexible Spacecraft ◽  
Extended State Observer ◽  
Attitude Motion ◽  
Sliding Mode Controller ◽  
Extended State ◽  
Dynamic Surface ◽  
Attitude Tracking

The nonlinear attitude motion equations of flexible spacecraft described by the Euler angles are expressed in the vector form. Based on dynamic surface control, a new robust dynamic surface sliding mode controller is proposed for the attitude tracking and active vibration suppression of flexible spacecraft in the presence of parameter uncertainty and external disturbances. Then, a novel robust dynamic surface finite time sliding mode controller is proposed with an extended state observer such that the uncertainties can be estimated. Lyapunov stability analyses show that the two controllers can guarantee the asymptotical stability of the attitude control system. The undesirable vibration of flexible spacecraft is also actively suppressed by the modal velocity feedback approach. Finally, simulation results verified the effectiveness of the presented control algorithms.

scholarly journals Anti-Disturbance Control for Quadrotor UAV Manipulator Attitude System Based on Fuzzy Adaptive Saturation Super-Twisting Sliding Mode Observer

2020 ◽  
Vol 10 (11) ◽  
pp. 3719
Author(s):  
Ran Jiao ◽  
Wusheng Chou ◽  
Yongfeng Rong ◽  
Mingjie Dong
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Control Approach ◽  
Quadrotor Uav ◽  
The Stability ◽  
The Impact ◽  
Fuzzy Adaptive

Aerial operation with unmanned aerial vehicle (UAV) manipulator is a promising field for future applications. However, the quadrotor UAV manipulator usually suffers from several disturbances, such as external wind and model uncertainties, when conducting aerial tasks, which will seriously influence the stability of the whole system. In this paper, we address the problem of high-precision attitude control for quadrotor manipulator which is equipped with a 2-degree-of-freedom (DOF) robotic arm under disturbances. We propose a new sliding-mode extended state observer (SMESO) to estimate the lumped disturbance and build a backstepping attitude controller to attenuate its influence. First, we use the saturation function to replace discontinuous sign function of traditional SMESO to alleviate the estimation chattering problem. Second, by innovatively introducing super-twisting algorithm and fuzzy logic rules used for adaptively updating the observer switching gains, the fuzzy adaptive saturation super-twisting extended state observer (FASTESO) is constructed. Finally, in order to further reduce the impact of sensor noise, we invite a tracking differentiator (TD) incorporated into FASTESO. The proposed control approach is validated with effectiveness in several simulations and experiments in which we try to fly UAV under varied external disturbances.

scholarly journals Attitude control for the rigid spacecraft with the improved extended state observer

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Yuteng Cao ◽  
Qi Liu ◽  
Guiqin He ◽  
Qiuling Zhao ◽  
Fang Liu
Keyword(s):  
Sliding Mode Control ◽  
Rigid Body ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Solar Array ◽  
Extended State ◽  
Rigid Spacecraft

Abstract In this article, a three-axis attitude manoeuvre spacecraft consisting of a central rigid body and a rotating solar array is studied. The rotating solar array is considered a disturbance to the spacecraft. In the design of the controller, the coupled terms and the rotating solar array are considered a disturbance. The improved extended state observer is proposed by combing the sliding mode observer with the originally extended state observer to estimate the disturbance. The sliding mode control method is adopted to adjust the attitude of the spacecraft. Numerical simulations are presented to demonstrate the outstanding performance of the present observer.

scholarly journals Trajectory planning of quadrotor using sliding mode control with extended state observer

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1300-1308
Author(s):  
Jun Xiao
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Control Model ◽  
Extended State Observer ◽  
Extended State ◽  
Inner Model ◽  
Aerial Vehicle

This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabilizing its flight are complex tasks because of its ability to maneuver quickly. Due to these stated issues, the tuning of this type of dynamic system is a difficult task. This paper deals with these issues by designing the aforementioned dual controller scheme. In addition, the effectiveness of the proposed controller is apparent in simulations performed in MATLAB, Simulink 2016. The designed controller shows better results and robustness than traditional controllers do.

scholarly journals Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances

2020 ◽  
Vol 12 ◽  
pp. 175682932092356
Author(s):  
Li Ding ◽  
Yangmin Li
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Extended State Observer ◽  
Parametric Uncertainties ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Fast Terminal Sliding Mode ◽  
Linear Extended State Observer ◽  
Attitude Tracking Control

The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances. The proposed control method requires no prior knowledge of the attitude dynamics. It can ensure rapid convergence rate and high tracking precision due to terminal sliding mode surface and fast reaching law. The controller uses the linear extended state observer to reject the influence of both parametric uncertainties and external disturbances. Meanwhile, the nonsingular fast terminal sliding mode control strategy is designed to ensure the state variables to slide to desired points in finite time. To enhance the control performance, a self-adaptive fruit fly optimization algorithm is applied to parameters tuning of the proposed controller. The effectiveness of the proposed control approach is illustrated through numerical simulations and experimental verification.

scholarly journals Attitude controller design for the aerial trees-pruning robot based on nonsingular fast terminal sliding mode

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141987114
Author(s):  
Qiuyan Zhang ◽  
Zhong Yang ◽  
Shaohui Wang ◽  
Yuhong Jiang ◽  
Changliang Xu ◽  
...  
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Modeling Uncertainties ◽  
Fast Terminal Sliding Mode ◽  
Unknown Disturbances ◽  
Attitude Controller

In this article, the attitude control problem of a new-designed aerial trees-pruning robot is addressed. During the tree cutting process, the aerial trees-pruning robot will be disturbed by unknown external disturbances. At the same time, the model uncertainties will also affect the attitude controller. To overcome the above problems, an attitude controller is designed with a nonsingular fast terminal sliding mode method. First, the extended state observer is designed to estimate the modeling uncertainties and unknown disturbances. Then, the extended state observer-based nonsingular fast terminal sliding mode controller can make the tracking error of the attitude converge to zero in a finite time. Finally, a control allocation matrix switching strategy is proposed to solve the problem of the change of the aerial robot model in the cutting process. The final simulation and experimental results show that the extended state observer-based nonsingular fast terminal sliding mode controller designed in this article has good attitude control performance and can effectively overcome the modeling uncertainties and unknown disturbances. The attitude controller and control allocation matrix switching strategy ensure that the attitude angles of the aerial robot can quickly track the reference signals.

scholarly journals Finite Time Output Feedback Attitude Tracking Control for Rigid Body Based on Extended State Observer

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Meng Duan ◽  
Yingmin Jia
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Tracking Control ◽  
Lyapunov Method ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Attitude Tracking Control

In this paper, the attitude tracking control problem of output feedback is investigated. A finite time extended state observer (FTESO) is designed through the homogeneous Lyapunov method to estimate the virtual angular velocity and total disturbances. Based on these estimated states, a finite time attitude tracking controller is developed. The numerical simulations are given to illustrate the effectiveness of the proposed control scheme.

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