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

School of Automation

Northwestern Polytechnical University Xian

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

6 Scopus citations

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.

Original language	English
Title of host publication	Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2715-2720
Number of pages	6
ISBN (Electronic)	9781728158549
DOIs	https://doi.org/10.1109/CCDC49329.2020.9164157
State	Published - Aug 2020
Event	32nd Chinese Control and Decision Conference, CCDC 2020 - Hefei, China Duration: 22 Aug 2020 → 24 Aug 2020

Publication series

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

Conference

Conference	32nd Chinese Control and Decision Conference, CCDC 2020
Country/Territory	China
City	Hefei
Period	22/08/20 → 24/08/20

Keywords

Estimation
Exogenous Disturbance
Extended Disturbance Observer
Terminal Sliding mode Control

Access to Document

10.1109/CCDC49329.2020.9164157

Cite this

Maqsood, H., Qu, Y., Taimoor, M., & Yang, B. (2020). Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle. In Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020 (pp. 2715-2720). Article 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 et al. / 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. pp. 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. in 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., pp. 2715-2720, 32nd Chinese Control and Decision Conference, CCDC 2020, Hefei, China, 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 et al.
Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 2715-2720 9164157 (Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020).

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

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

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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. In Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 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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