Disturbance Observer Based Tracking Control of Quadrotor With High-Order Disturbances

In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development...

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Bibliographic Details
Published inIEEE access Vol. 8; pp. 8300 - 8313
Main Authors Ahmed, Nigar, Chen, Mou, Shao, Shuyi
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Atmospheric modeling
Chirp
Disturbance observer
Disturbance observers
Flight control
high-order disturbances
Mathematical model
Nonlinear systems
quadrotor
Rotors
Sliding mode control
Tracking control
Unmanned aerial vehicles
Unmanned helicopters
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Summary:In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development of disturbance observer (DO) based tracking control scheme. To obtain the desired tracking performance, standard sliding mode control (SMC) method is utilized while for disturbance estimation, DO based on Simpson's approximation is developed and incorporated with SMC. Furthermore, in this paper, both matched and mismatched disturbances are considered. Hence, a matrix associated with disturbances is invoked in the system model. To show the effective and desired control performance of developed disturbance observer-based control (DOBC) scheme, extensive simulations are conducted, followed by presenting the results in the paper.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2964013