Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances
A quadrotor unmanned aerial vehicle should have the ability to achieve the desired flight manuevers regardless of the constraints posed by inevitable disturbances. Therefore, this research presents a robust control method designed for trajectory tracking of quadrotor. The method employs a reduced-or...
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Elsevier
2024-11-01
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| Series: | Engineering Science and Technology, an International Journal |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2215098624002441 |
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| author | Nigar Ahmed Meng Joo Er |
| author_facet | Nigar Ahmed Meng Joo Er |
| author_sort | Nigar Ahmed |
| collection | DOAJ |
| description | A quadrotor unmanned aerial vehicle should have the ability to achieve the desired flight manuevers regardless of the constraints posed by inevitable disturbances. Therefore, this research presents a robust control method designed for trajectory tracking of quadrotor. The method employs a reduced-order state observer that uses measurable quadrotor position and attitude to estimate only the rate of change of these variables. A modified disturbance estimation criterion, based on measurable states and their estimated rates, is introduced. Command filters and their compensations are utilized to replace numerical derivatives with estimated derivatives, improving accuracy and stability. Tracking errors, obtained from these compensated variables, are used to design state transformations. The control technique, based on sliding mode control combined with adaptive laws and disturbance observer, is formulated to attenuate various disturbances, including band-limited white noise, constant disturbances, exogenous disturbances, nonlinear disturbances with variable frequency and magnitude, Gaussian distributed random disturbances, and uniformly distributed disturbances. The integration of the reduced-order state observer with estimated differentiation minimizes computational loss and allows for quick computation. Stability analysis, conducted using Lyapunov criteria, along with simulation results on the DJI F450 quadrotor, validates the effectiveness and stability of the developed controller. |
| format | Article |
| id | doaj-art-c067416f320b482d8f546a9468387d9f |
| institution | Kabale University |
| issn | 2215-0986 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Engineering Science and Technology, an International Journal |
| spelling | doaj-art-c067416f320b482d8f546a9468387d9f2024-11-15T06:12:04ZengElsevierEngineering Science and Technology, an International Journal2215-09862024-11-0159101858Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbancesNigar Ahmed0Meng Joo Er1Institute of Artificial Intelligence and Marine Robotics, Dalian, China; College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaCorresponding author at: College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China.; Institute of Artificial Intelligence and Marine Robotics, Dalian, China; College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaA quadrotor unmanned aerial vehicle should have the ability to achieve the desired flight manuevers regardless of the constraints posed by inevitable disturbances. Therefore, this research presents a robust control method designed for trajectory tracking of quadrotor. The method employs a reduced-order state observer that uses measurable quadrotor position and attitude to estimate only the rate of change of these variables. A modified disturbance estimation criterion, based on measurable states and their estimated rates, is introduced. Command filters and their compensations are utilized to replace numerical derivatives with estimated derivatives, improving accuracy and stability. Tracking errors, obtained from these compensated variables, are used to design state transformations. The control technique, based on sliding mode control combined with adaptive laws and disturbance observer, is formulated to attenuate various disturbances, including band-limited white noise, constant disturbances, exogenous disturbances, nonlinear disturbances with variable frequency and magnitude, Gaussian distributed random disturbances, and uniformly distributed disturbances. The integration of the reduced-order state observer with estimated differentiation minimizes computational loss and allows for quick computation. Stability analysis, conducted using Lyapunov criteria, along with simulation results on the DJI F450 quadrotor, validates the effectiveness and stability of the developed controller.http://www.sciencedirect.com/science/article/pii/S2215098624002441QuadrotorDisturbance observerReduced-order state observerTracking controlDJI F450 |
| spellingShingle | Nigar Ahmed Meng Joo Er Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances Engineering Science and Technology, an International Journal Quadrotor Disturbance observer Reduced-order state observer Tracking control DJI F450 |
| title | Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances |
| title_full | Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances |
| title_fullStr | Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances |
| title_full_unstemmed | Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances |
| title_short | Command-filtered robust trajectory tracking control for aggressive maneuvers of quadrotor UAV with multiple unknown disturbances |
| title_sort | command filtered robust trajectory tracking control for aggressive maneuvers of quadrotor uav with multiple unknown disturbances |
| topic | Quadrotor Disturbance observer Reduced-order state observer Tracking control DJI F450 |
| url | http://www.sciencedirect.com/science/article/pii/S2215098624002441 |
| work_keys_str_mv | AT nigarahmed commandfilteredrobusttrajectorytrackingcontrolforaggressivemaneuversofquadrotoruavwithmultipleunknowndisturbances AT mengjooer commandfilteredrobusttrajectorytrackingcontrolforaggressivemaneuversofquadrotoruavwithmultipleunknowndisturbances |