TY - JOUR
T1 - Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle
AU - Li, Bo
AU - Ban, Hanyu
AU - Gong, Wenquan
AU - Xiao, Bing
N1 - Publisher Copyright:
© The Author(s) 2020.
PY - 2020/11/1
Y1 - 2020/11/1
N2 - 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.
AB - 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.
KW - dynamic surface control
KW - Extended state observer
KW - fast terminal sliding mode
KW - trajectory tracking
KW - unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=85087753187&partnerID=8YFLogxK
U2 - 10.1177/0142331220935710
DO - 10.1177/0142331220935710
M3 - 文章
AN - SCOPUS:85087753187
SN - 0142-3312
VL - 42
SP - 2956
EP - 2968
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
IS - 15
ER -