Affiliation:
1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China
2. Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, Chengdu 611731, China
Abstract
In the attitude control of quadrotor drones, it is necessary to cope with matched and unmatched disturbances caused by nonlinear couplings, model uncertainties, and external disturbances, as well as to consider the effects caused by actuator dynamics. Aiming to accurately track desired trajectories under the above factors, a novel control strategy is proposed by combining a state feedback control with a high-order sliding mode disturbance observer (HOSMDO). The HOSMDO is motivated by the higher-order sliding mode (HOSM) differentiator and extended state observer (ESO) technique, allowing for the exact robust estimation of disturbances and their arbitrary order derivatives in finite time. Unlike the control schemes based on back-stepping methods, the proposed controller is designed with a holistic mindset. Specifically, a baseline feedback framework is constructed firstly, and the disturbances and relevant derivatives required for the baseline framework are then generated by the HOSMDOs to obtain the overall control scheme. The stability conditions of the controllers designed with and without considering the actuator dynamics are analyzed separately. In the latter case, the actuator dynamics imposed additional constraints on the control parameters. Numerical simulations validate the effectiveness of the proposed control strategy.
Funder
Natural Science Foundation of Sichuan Province
Sichuan Science and Technology Programs
Fundamental Research Funds for the Central Universities
Wuhu Science and Technology Plan Project
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