Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle

Hamid Maqsood; Yaohong Qu; Muhammad Taimoor; Bing Yang

doi:10.1109/CCDC49329.2020.9164157

Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle

Hamid Maqsood, Yaohong Qu, Muhammad Taimoor, Bing Yang

自动化学院

Northwestern Polytechnical University Xian

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

This paper proposes composite control scheme for attitude and altitude tracking of quadrotor using terminal sliding mode control strategy and a novel extended disturbance observer. A sliding manifold is synthesized based on the estimated output of extended disturbance observer that has strong ability of perfect estimation of exogenous disturbances. The observer offers a tool to vanish the effect of mismatched disturbances and the composite control algorithm devise swift adaptation and convergence of the flight control when subjected to exogenous perturbations. Moreover, wider class of disturbances are considered in this study and the effectiveness of the proposed control method is validated by the simulation results.

源语言	英语
主期刊名	Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2715-2720
页数	6
ISBN（电子版）	9781728158549
DOI	https://doi.org/10.1109/CCDC49329.2020.9164157
出版状态	已出版 - 8月 2020
活动	32nd Chinese Control and Decision Conference, CCDC 2020 - Hefei, 中国期限: 22 8月 2020 → 24 8月 2020

出版系列

姓名	Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020

会议

会议	32nd Chinese Control and Decision Conference, CCDC 2020
国家/地区	中国
市	Hefei
时期	22/08/20 → 24/08/20

访问文件

10.1109/CCDC49329.2020.9164157

其它文件与链接

链接到 Scopus 的出版物

引用此

Maqsood, H., Qu, Y., Taimoor, M., & Yang, B. (2020). Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. 在 Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020 (页码 2715-2720). 文章 9164157 (Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC49329.2020.9164157

Maqsood, Hamid ; Qu, Yaohong ; Taimoor, Muhammad 等. / Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 2715-2720 (Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020).

@inproceedings{a87681394d80469aa89e874587a38dac,

title = "Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle",

abstract = "This paper proposes composite control scheme for attitude and altitude tracking of quadrotor using terminal sliding mode control strategy and a novel extended disturbance observer. A sliding manifold is synthesized based on the estimated output of extended disturbance observer that has strong ability of perfect estimation of exogenous disturbances. The observer offers a tool to vanish the effect of mismatched disturbances and the composite control algorithm devise swift adaptation and convergence of the flight control when subjected to exogenous perturbations. Moreover, wider class of disturbances are considered in this study and the effectiveness of the proposed control method is validated by the simulation results.",

keywords = "Estimation, Exogenous Disturbance, Extended Disturbance Observer, Terminal Sliding mode Control",

author = "Hamid Maqsood and Yaohong Qu and Muhammad Taimoor and Bing Yang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 32nd Chinese Control and Decision Conference, CCDC 2020 ; Conference date: 22-08-2020 Through 24-08-2020",

year = "2020",

month = aug,

doi = "10.1109/CCDC49329.2020.9164157",

language = "英语",

series = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2715--2720",

booktitle = "Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020",

}

Maqsood, H, Qu, Y, Taimoor, M & Yang, B 2020, Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. 在 Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020., 9164157, Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020, Institute of Electrical and Electronics Engineers Inc., 页码 2715-2720, 32nd Chinese Control and Decision Conference, CCDC 2020, Hefei, 中国, 22/08/20. https://doi.org/10.1109/CCDC49329.2020.9164157

Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. / Maqsood, Hamid; Qu, Yaohong; Taimoor, Muhammad 等.
Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 页码 2715-2720 9164157 (Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle

AU - Maqsood, Hamid

AU - Qu, Yaohong

AU - Taimoor, Muhammad

AU - Yang, Bing

PY - 2020/8

Y1 - 2020/8

N2 - This paper proposes composite control scheme for attitude and altitude tracking of quadrotor using terminal sliding mode control strategy and a novel extended disturbance observer. A sliding manifold is synthesized based on the estimated output of extended disturbance observer that has strong ability of perfect estimation of exogenous disturbances. The observer offers a tool to vanish the effect of mismatched disturbances and the composite control algorithm devise swift adaptation and convergence of the flight control when subjected to exogenous perturbations. Moreover, wider class of disturbances are considered in this study and the effectiveness of the proposed control method is validated by the simulation results.

AB - This paper proposes composite control scheme for attitude and altitude tracking of quadrotor using terminal sliding mode control strategy and a novel extended disturbance observer. A sliding manifold is synthesized based on the estimated output of extended disturbance observer that has strong ability of perfect estimation of exogenous disturbances. The observer offers a tool to vanish the effect of mismatched disturbances and the composite control algorithm devise swift adaptation and convergence of the flight control when subjected to exogenous perturbations. Moreover, wider class of disturbances are considered in this study and the effectiveness of the proposed control method is validated by the simulation results.

KW - Estimation

KW - Exogenous Disturbance

KW - Extended Disturbance Observer

KW - Terminal Sliding mode Control

UR - http://www.scopus.com/inward/record.url?scp=85091557854&partnerID=8YFLogxK

U2 - 10.1109/CCDC49329.2020.9164157

DO - 10.1109/CCDC49329.2020.9164157

M3 - 会议稿件

AN - SCOPUS:85091557854

T3 - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020

SP - 2715

EP - 2720

BT - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 32nd Chinese Control and Decision Conference, CCDC 2020

Y2 - 22 August 2020 through 24 August 2020

ER -

Maqsood H, Qu Y, Taimoor M, Yang B. Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. 在 Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 页码 2715-2720. 9164157. (Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020). doi: 10.1109/CCDC49329.2020.9164157

Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle

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