Nonlinear observer and output feedback attitude control of spacecraft

1992 ◽  
Vol 28 (4) ◽  
pp. 970-977 ◽  
Author(s):  
S. Nicosia ◽  
P. Tomei
Keyword(s):  
Output Feedback ◽  
Attitude Control ◽  
Nonlinear Observer

scholarly journals Output Feedback Adaptive Dynamic Surface Sliding-Mode Control for Quadrotor UAVs with Tracking Error Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-23 ◽  
Author(s):  
Guoqiang Zhu ◽  
Sen Wang ◽  
Lingfang Sun ◽  
Weichun Ge ◽  
Xiuyu Zhang
Keyword(s):  
Sliding Mode Control ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Nonlinear Observer ◽  
Dynamic Surface ◽  
Mode Control ◽  
Control Scheme

In this paper, a fuzzy adaptive output feedback dynamic surface sliding-mode control scheme is presented for a class of quadrotor unmanned aerial vehicles (UAVs). The framework of the controller design process is divided into two stages: the attitude control process and the position control process. The main features of this work are (1) a nonlinear observer is employed to predict the motion velocities of the quadrotor UAV; therefore, only the position signals are needed for the position tracking controller design; (2) by using the minimum learning technology, there is only one parameter which needs to be updated online at each design step and the computational burden can be greatly reduced; (3) a performance function is introduced to transform the tracking error into a new variable which can make the tracking error of the system satisfy the prescribed performance indicators; (4) the sliding-mode surface is introduced in the process of the controller design, and the robustness of the system is improved. Stability analysis proved that all signals of the closed-loop system are uniformly ultimately bounded. The results of the hardware-in-the-loop simulation validate the effectiveness of the proposed control scheme.

scholarly journals Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zijun Gao ◽  
Jin Wang ◽  
Yaping Tian
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Attitude Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Auxiliary Variable ◽  
System Stability ◽  
Terminal Sliding Mode ◽  
Command Signals ◽  
Adverse Influence

This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.

Sign in / Sign up

Export Citation Format

Share Document