Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle

Bo Li, Hanyu Ban, Wenquan Gong, Bing Xiao

Research output: Contribution to journalArticlepeer-review

26 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)2956-2968
Number of pages13
JournalTransactions of the Institute of Measurement and Control
Volume42
Issue number15
DOIs
StatePublished - 1 Nov 2020

Keywords

  • dynamic surface control
  • Extended state observer
  • fast terminal sliding mode
  • trajectory tracking
  • unmanned aerial vehicle

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