Disturbance observer based control of quadrotors with SLFN

Yixin Cheng; Tianyi Shao; Feng Wu; Yuyan Guo; Bin Xu

doi:10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN

Yixin Cheng, Tianyi Shao, Feng Wu, Yuyan Guo, Bin Xu

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

Original language	English
Title of host publication	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5774-5778
Number of pages	5
ISBN (Electronic)	9781538611272
DOIs	https://doi.org/10.1109/IECON.2017.8217001
State	Published - 15 Dec 2017
Event	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China Duration: 29 Oct 2017 → 1 Nov 2017

Publication series

Name	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Volume	2017-January

Conference

Conference	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Country/Territory	China
City	Beijing
Period	29/10/17 → 1/11/17

Keywords

disturbance observer
fast terminal sliding mode
finite time convergence
quadrotor

Access to Document

10.1109/IECON.2017.8217001

Cite this

Cheng, Y., Shao, T., Wu, F., Guo, Y., & Xu, B. (2017). Disturbance observer based control of quadrotors with SLFN. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (pp. 5774-5778). (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8217001

@inproceedings{b362c0fbfdd04883944adb1fc865d5db,

title = "Disturbance observer based control of quadrotors with SLFN",

abstract = "This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.",

keywords = "disturbance observer, fast terminal sliding mode, finite time convergence, quadrotor",

author = "Yixin Cheng and Tianyi Shao and Feng Wu and Yuyan Guo and Bin Xu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 ; Conference date: 29-10-2017 Through 01-11-2017",

year = "2017",

month = dec,

day = "15",

doi = "10.1109/IECON.2017.8217001",

language = "英语",

series = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

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

pages = "5774--5778",

booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

}

Cheng, Y, Shao, T, Wu, F, Guo, Y & Xu, B 2017, Disturbance observer based control of quadrotors with SLFN. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 5774-5778, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, China, 29/10/17. https://doi.org/10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN. / Cheng, Yixin; Shao, Tianyi; Wu, Feng et al.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. p. 5774-5778 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Disturbance observer based control of quadrotors with SLFN

AU - Cheng, Yixin

AU - Shao, Tianyi

AU - Wu, Feng

AU - Guo, Yuyan

AU - Xu, Bin

PY - 2017/12/15

Y1 - 2017/12/15

N2 - This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

AB - This paper addresses a terminal sliding mode strategy to control the attitude of quadrotor while achieving the finite time convergence. To deal with system uncertainty and time-varying disturbance, a hybrid controller using single-hidden layer feedforward network (SLFN) and disturbance observer (DOB) is proposed. Fast terminal sliding mode surface is designed to construct the sliding mode control. To improve learning speed, the updating law of SLFN weight utilizes the information of the fast terminal sliding mode. The effectiveness of the proposed controller is demonstrated with simulation example.

KW - disturbance observer

KW - fast terminal sliding mode

KW - finite time convergence

KW - quadrotor

UR - http://www.scopus.com/inward/record.url?scp=85046686192&partnerID=8YFLogxK

U2 - 10.1109/IECON.2017.8217001

DO - 10.1109/IECON.2017.8217001

M3 - 会议稿件

AN - SCOPUS:85046686192

T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

SP - 5774

EP - 5778

BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017

Y2 - 29 October 2017 through 1 November 2017

ER -

Cheng Y, Shao T, Wu F, Guo Y, Xu B. Disturbance observer based control of quadrotors with SLFN. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2017. p. 5774-5778. (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2017.8217001

Disturbance observer based control of quadrotors with SLFN

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this