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 language | English |
|---|---|
| Pages (from-to) | 2956-2968 |
| Number of pages | 13 |
| Journal | Transactions of the Institute of Measurement and Control |
| Volume | 42 |
| Issue number | 15 |
| DOIs | |
| State | Published - 1 Nov 2020 |
Keywords
- dynamic surface control
- Extended state observer
- fast terminal sliding mode
- trajectory tracking
- unmanned aerial vehicle
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