Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances
The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on lin...
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| Vydané v: | International journal of micro air vehicles Ročník 12 |
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| Hlavní autori: | , |
| Médium: | Journal Article |
| Jazyk: | English |
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London, England
SAGE Publications
2020
Sage Publications Ltd |
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| ISSN: | 1756-8293, 1756-8307 |
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| Abstract | The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances. The proposed control method requires no prior knowledge of the attitude dynamics. It can ensure rapid convergence rate and high tracking precision due to terminal sliding mode surface and fast reaching law. The controller uses the linear extended state observer to reject the influence of both parametric uncertainties and external disturbances. Meanwhile, the nonsingular fast terminal sliding mode control strategy is designed to ensure the state variables to slide to desired points in finite time. To enhance the control performance, a self-adaptive fruit fly optimization algorithm is applied to parameters tuning of the proposed controller. The effectiveness of the proposed control approach is illustrated through numerical simulations and experimental verification. |
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| AbstractList | The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances. The proposed control method requires no prior knowledge of the attitude dynamics. It can ensure rapid convergence rate and high tracking precision due to terminal sliding mode surface and fast reaching law. The controller uses the linear extended state observer to reject the influence of both parametric uncertainties and external disturbances. Meanwhile, the nonsingular fast terminal sliding mode control strategy is designed to ensure the state variables to slide to desired points in finite time. To enhance the control performance, a self-adaptive fruit fly optimization algorithm is applied to parameters tuning of the proposed controller. The effectiveness of the proposed control approach is illustrated through numerical simulations and experimental verification. |
| Author | Ding, Li Li, Yangmin |
| Author_xml | – sequence: 1 givenname: Li orcidid: 0000-0002-3613-134X surname: Ding fullname: Ding, Li organization: Department of Industrial and Systems Engineering, The – sequence: 2 givenname: Yangmin surname: Li fullname: Li, Yangmin email: nuaadli@163.com organization: Department of Industrial and Systems Engineering, The |
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| Cites_doi | 10.1007/s11071-016-2760-y 10.1016/j.jfranklin.2017.11.004 10.1016/j.fss.2011.05.009 10.1016/j.ymssp.2018.11.001 10.3390/electronics7120357 10.1016/j.automatica.2005.07.001 10.1016/j.knosys.2013.04.003 10.1016/S0005-1098(02)00147-4 10.1016/j.ast.2017.05.022 10.1109/ACCESS.2016.2542800 10.5772/59618 10.1139/tcsme-2017-0110 10.1109/TIE.2017.2752139 10.1016/j.amc.2011.11.080 10.1016/j.isatra.2017.10.009 10.1016/j.egypro.2012.03.021 10.1080/00207179.2017.1309572 10.1109/TIE.2018.2831191 10.1007/978-3-030-03766-6_7 10.1177/0954405415617448 10.1016/j.ifacol.2017.08.576 10.1016/j.robot.2016.01.011 10.1016/j.knosys.2014.02.021 10.1016/j.ijleo.2013.11.069 10.1016/j.sna.2014.03.011 10.1007/s40815-017-0302-5 10.1109/TASE.2015.2425404 10.1109/IBCAST.2017.7868060 10.1007/s11071-018-4362-3 10.1109/TAES.2017.2671698 10.1080/01691864.2014.913498 10.1177/0142331214538900 10.1109/JAS.2017.7510679 10.3390/aerospace4020031 |
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| Keywords | terminal sliding mode attitude tracking control fruit fly optimization algorithm linear extended state observer Quadrotor |
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| SubjectTerms | Adaptive algorithms Adaptive control Aerodynamics Attitude control Control methods Controllers Couplings Disturbances Optimization Robust control Sliding mode control State observers Tracking control Uncertainty Unmanned aerial vehicles Unmanned helicopters |
| Title | Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances |
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