Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach

2012 ◽  
Vol 6 (2) ◽  
pp. 216 ◽  
Author(s):  
K. Shojaei ◽  
A.M. Shahri
Keyword(s):  
Mobile Robots ◽  
Output Feedback ◽  
Tracking Control ◽  
Dynamic Surface Control ◽  
Wheeled Mobile Robots ◽  
Dynamic Surface ◽  
Control Approach ◽  
Surface Control ◽  
Feedback Tracking

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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