Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer

Shao Xingling; Liu Jun; Cao Huiliang; Shen Chong; Wang Honglun

摘要

Summary >In this paper, we present an extended state observer–based robust dynamic surface trajectory tracking controller for a quadrotor unmanned aerial vehicle subject to parametric uncertainties and external disturbances. First, the original cascaded dynamics of a quadrotor unmanned aerial vehicle is formulated in a strict form with lumped disturbances to facilitate the backstepping design. Second, based on the separate outer‐ and inner‐loop control methodologies, the extended state observers are constructed to online estimate the unmeasurable velocity states and lumped disturbances existed in translational and rotational dynamics, respectively. Third, to overcome the problem of “explosion of complexity” inherent in backstepping control, the technique of dynamic surface control is utilized for trajectory tracking and attitude stabilization, and with the velocity and disturbance estimates incorporated into the dynamic surface control, a robust dynamic surface flight controller that guarantees asymptotic tracking in the presence of lumped disturbances is synthesized. In addition, the stability analysis is given, showing that the present robust controller can ensure the ultimate boundedness of all signals in the closed‐loop system and make the tracking errors arbitrarily small. Finally, comparisons and extensive simulations under different flight scenarios are performed to validate the effectiveness and superiority of the proposed scheme in accurate tracking performance and enhanced antidisturbance capability. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract XMLNS =“http://www.wiley.com/namespaces/wiley”type =“main”xml：lang =“en”> <title type =“main”>摘要</ title> >纸张，我们介绍了一种扩展的基于状态观察者的鲁棒动态曲面轨迹跟踪控制器，用于符合参数不确定因素和外部干扰的四轮电机无人驾驶飞行器。首先，标准电机无人驾驶车辆的原始级联动态以严格的形式配制，具有集体的扰动，以便于反斜张平设计。其次，基于单独的外环和内环控制方法，扩展状态观察者在线构建到在线估计，分别在翻译和旋转动力学中存在不可衡量的速度状态和集成的扰动。第三，为了克服反向控制中固有的“复杂性爆炸”的问题，动态表面控制技术用于轨迹跟踪和姿态稳定，并利用速度和扰动估计，融合到动态表面控制中，稳健的动态表面合成了在存在集失扰动的情况下保证渐近跟踪的飞行控制器。另外，给出了稳定性分析，示出了本发明的鲁棒控制器可以确保闭环系统中所有信号的最终界限，并使跟踪误差任意小。最后，进行了不同飞行场景下的比较和广泛的模拟，以验证所提出的方案的有效性和优越性，以准确的跟踪性能和增强的防静脉能力。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2018年第7期</span><b style="margin: 0 2px;">|</b><span>共20页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Shao Xingling&option=202" target="_blank" rel="nofollow">Shao Xingling;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Liu Jun&option=202" target="_blank" rel="nofollow">Liu Jun;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Cao Huiliang&option=202" target="_blank" rel="nofollow">Cao Huiliang;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Shen Chong&option=202" target="_blank" rel="nofollow">Shen Chong;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Wang Honglun&option=202" target="_blank" rel="nofollow">Wang Honglun;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan China;</p> <p>Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan China;</p> <p>Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan China;</p> <p>Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan China;</p> <p>School of Automation Science and Electrical EngineeringBeihang UniversityBeijing China;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=dynamic surface control (DSC)&option=203" rel="nofollow">dynamic surface control (DSC);</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=explosion of complexity&option=203" rel="nofollow">explosion of complexity;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=extended state observer (ESO)&option=203" rel="nofollow">extended state observer (ESO);</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=quadrotor unmanned aerial vehicle (UAV)&option=203" rel="nofollow">quadrotor unmanned aerial vehicle (UAV);</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=unmeasurable velocity states&option=203" rel="nofollow">unmeasurable velocity states;</a> </p> <div class="translation"> 机译：动态表面控制（DSC）;复杂性的爆炸;延长状态观察者（ESO）;四轮车无人驾驶飞行器（UAV）;不可衡量的速度状态; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> 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