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 Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Electronics ◽  
2018 ◽  
Vol 7 (8) ◽  
pp. 128 ◽  
Author(s):  
Di Shi ◽  
Zhong Wu ◽  
Wusheng Chou
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
State Observer ◽  
Extended State Observer ◽  
Wind Gust ◽  
Actuator Faults ◽  
Extended State ◽  
Twisting Algorithm ◽  
The Impact

This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

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 Design of Nonlinear Robust Rotor Current Controller for DFIG Based on Terminal Sliding Mode Control and Extended State Observer

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Guowei Cai ◽  
Cheng Liu ◽  
Deyou Yang ◽  
Nantian Huang
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Variable Structure ◽  
State Observer ◽  
Extended State Observer ◽  
Strong Nonlinearity ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Current Controller

As to strong nonlinearity of doubly fed induction generators (DFIG) and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT) capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO) so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC). The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.

scholarly journals Contour Tracking Control Based on Extended State Observer for Multiaxis Motion System

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Sanxiu Wang ◽  
Qiang Zhou ◽  
Yang Wang
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Numerical Control ◽  
Contour Error ◽  
Extended State ◽  
Motion Platform ◽  
Coordinated Motion ◽  
Control Approach ◽  
Contour Control

In the contouring process, the trajectory generated by the computer numerical control (CNC) machine tool is a result of the multiaxis coordinated motion. The contour error has a direct impact on the accuracy of the machined product. To obtain higher contouring accuracy of the multiaxis motion control system, this paper presents a cross-coupled control approach based on the extended state observer sliding mode control. First, a single-axis sliding mode controller is designed, and an extended state observer is used to estimate system disturbances and improve the system robustness. Then, the cross-coupled control approach handles the coordinated motion of multiple axes to improve the contour control accuracy. Next, a simulation study is conducted on the three-axis motion platform. Its result shows that the control algorithm is effective in reducing tracking errors and contour errors.

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.

Impact angle control based on integral sliding mode manifold and extended state observer

2018 ◽  
Vol 233 (6) ◽  
pp. 2131-2140
Author(s):  
Xiaojian Zhang ◽  
Mingyong Liu ◽  
Yang Li ◽  
Feihu Zhang
Keyword(s):  
Sliding Mode ◽  
Impact Angle ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Integral Sliding Mode ◽  
Guidance Law ◽  
Switched Nonlinear System ◽  
The Impact

This paper discusses the issue of impact angle control over guidance in scenarios of an interceptor against the maneuvering targets. Inspired by switched nonlinear system, an integral sliding mode manifold is first developed. Then, the impact angle control over guidance is derived by using the integral sliding mode manifold with finite time control. To obtain precise guidance effect, the second-order of extended state observer is proposed in the case of unknown target acceleration. Finally, composited impact angle control over guidance based on extended state observer is developed. The stability analysis of the proposed guidance law is demonstrated by using Lyapunov function, and theoretical proof that the line-of-sight angle and line-of-sight angular rate can converge to the desired value in finite steps, respectively. Numerical simulation results are illustrated to validate the performance of the proposed guidance law.

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