Design of uncertainty and disturbance estimator based tracking control for fuzzy switched systems

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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Trajectory Tracking Control of Underwater Vehicle-Manipulator Systems Using Uncertainty and Disturbance Estimator

OCEANS 2018 MTS/IEEE Charleston ◽

10.1109/oceans.2018.8604667 ◽

2018 ◽

Cited By ~ 1

Author(s):

Han Han ◽

Yanhui Wei ◽

Lianwu Guan ◽

Xiufen Ye ◽

Anqi Wang

Keyword(s):

Trajectory Tracking ◽

Tracking Control ◽

Underwater Vehicle ◽

Trajectory Tracking Control ◽

Uncertainty And Disturbance Estimator ◽

Disturbance Estimator

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Aeroengine Multivariable Nonlinear Tracking Control Based on Uncertainty and Disturbance Estimator

Journal of Engineering for Gas Turbines and Power ◽

10.1115/1.4027820 ◽

2014 ◽

Vol 136 (12) ◽

Cited By ~ 6

Author(s):

Lingfei Xiao

Keyword(s):

Tracking Control ◽

Control Method ◽

Reference Model ◽

Robust Tracking Control ◽

Pass Filter ◽

Low Pass Filter ◽

Control Approach ◽

Nonlinear Tracking ◽

Uncertainty And Disturbance Estimator ◽

Disturbance Estimator

The multivariable robust tracking control problem for aeroengine is considered in this paper. On the basis of the aeroengine nonlinear affine uncertain dynamic model, and according to uncertainty and disturbance estimator (UDE) control approach, a novel aeroengine multivariable robust nonlinear tracking control method is presented in order to provide favorable tracking and disturbance rejection performance. After getting a generalization form of UDE-based aeroengine multivariable controller, a simplification form of control law is obtained when a specified form of low-pass filter is applied. Reference model of the aeroengine system should have satisfying dynamic, thus an optional reference model is provided. Simulation on a twin-shaft aeroengine with two inputs, verifies the effectiveness of the proposed method.

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

Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations ◽

10.1115/dscc2020-3308 ◽

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.

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Uncertainty and Disturbance Estimator-Based Robust Trajectory Tracking Control for a Quadrotor in a Global Positioning System-Denied Environment

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4037736 ◽

2017 ◽

Vol 140 (3) ◽

Cited By ~ 10

Author(s):

Qi Lu ◽

Beibei Ren ◽

Siva Parameswaran ◽

Qing-Chang Zhong

Keyword(s):

Global Positioning System ◽

Trajectory Tracking ◽

Tracking Control ◽

Position Estimation ◽

Accurate Estimation ◽

Positioning System ◽

Trajectory Tracking Control ◽

Global Positioning ◽

Uncertainty And Disturbance Estimator ◽

Disturbance Estimator

This paper addresses the problem of autonomous trajectory tracking control for a quadrotor in a global positioning system (GPS)-denied environment using only onboard sensing. To achieve that goal, it requires accurate estimation of quadrotor states followed by proper control actions. For the position estimation in a GPS-denied environment, an open source high speed optical flow sensor PX4FLOW is adopted. As for the quadrotor control, there are several challenges due to its highly nonlinear system dynamics, such as underactuation, coupling, model uncertainties, and external disturbances. To deal with those challenges, the cascaded inner–outer uncertainty and disturbance estimator (UDE)-based robust control scheme has been developed and applied to the attitude and position control of a quadrotor. Extensive real flight experiments, including attitude stabilization, hover, disturbance rejection, trajectory tracking, and comparison with the proportional–integral–derivative (PID) controller are carried out to demonstrate the effectiveness of the developed UDE-based controllers.

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

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.2404 ◽

2020 ◽

Vol 53 (2) ◽

pp. 9366-9371

Author(s):

Qi Lu

Keyword(s):

Tracking Control ◽

Global Tracking ◽

Uncertainty And Disturbance Estimator ◽

Disturbance Estimator

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

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410021999547 ◽

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.

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