Trajectory tracking anti-disturbance control for unmanned aerial helicopter based on disturbance characterization index

This work studies the trajectory tracking control for unmanned aerial helicopter (UAH) system under both matched disturbance and mismatched ones. Initially, to tackle the strong coupling, an input–output feedback linearization method is utilized to simplify the nonlinear UAH system. Secondly, a set...

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Bibliographic Details
Published inControl theory and technology Vol. 21; no. 2; pp. 233 - 245
Main Authors Chen, Linbo, Li, Tao, Liu, Lijun, Mao, Zehui
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.05.2023
Springer Nature B.V
College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,Jiangsu,China
Subjects
Complexity
Computational Intelligence
Control
Control and Systems Theory
Control systems design
Disturbance observers
Engineering
Feedback control
Feedback linearization
Feedforward control
Helicopter control
Mechatronics
Optimization
Output feedback
Research Article
Robotics
Systems Theory
Tracking control
Tracking errors
Trajectory control
Unmanned helicopters
Finite-time disturbance observer (FTDO)
Backstepping control
Unmanned aerial helicopter (UAH)
Disturbance characterization index (DCI)
Trajectory tracking control
Disturbance characterization index(DCI)
Unmanned aerial helicopter(UAH)-Trajectory tracking control
Finite-time disturbance observer(FTDO)
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Summary:This work studies the trajectory tracking control for unmanned aerial helicopter (UAH) system under both matched disturbance and mismatched ones. Initially, to tackle the strong coupling, an input–output feedback linearization method is utilized to simplify the nonlinear UAH system. Secondly, a set of finite-time disturbance observers (FTDOs) are proposed to estimate mismatched disturbances with their successive derivatives, which are utilized to design the feedforward controller via backstepping. Thirdly, as for matched disturbance, by defining the disturbance characterization index (DCI) to determine whether the disturbance is harmful or not for the UAH system, a feedback controller is proposed and a sufficient condition is established to ensure the convergence of the tracking error. Finally, some numerical simulations and comparisons illustrate the validity and advantages of our control scheme.
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ISSN:2095-6983
2198-0942
DOI:10.1007/s11768-022-00124-9