Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism

Shao Xingling; Liu Ning; Liu Jun; Wang Honglun

摘要

Summary >In this paper, an output‐feedback trajectory tracking controller for quadrotors is presented by integrating a model‐assisted extended state observer (ESO) with dynamic surface control. The quadrotor dynamics are described by translational and rotational loops with lumped disturbances to promote the hierarchical control design. Then, by exploiting the structural property of the quadrotor, a model information–assisted high‐order ESO that relies only on position measurements is designed to estimate not only the unmeasurable states but also the lumped disturbances in the rotational loop. In addition, to account for the problem of “explosion of complexity” inherent in hierarchical control, the output feedback–based trajectory tracking and attitude stabilization laws are respectively synthesized by utilizing dynamic surface control and the corresponding estimated signals provided by the ESO. The stability analysis is given, showing that the output‐feedback trajectory tracking controller can ensure the ultimate boundedness of all signals in the closed‐loop system and make the tracking errors arbitrarily small. Finally, flight simulations with respect to an 8‐shaped trajectory command are performed to verify the effectiveness of the proposed scheme in obtaining the stable and accurate trajectory tracking using position measurements only. </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，通过将模型辅助的扩展状态观察器（ESO）与动态表面控制集成，介绍了用于四轮压积器的输出反馈轨迹跟踪控制器。四谐波动力学通过转换和旋转环，具有集体扰动来促进分级控制设计。然后，通过利用四射线的结构特性，仅依赖于位置测量的模型信息辅助高阶ESO旨在不仅估计不可衡量的状态，而且还估计旋转环中的块状干扰。另外，为了解释分层控制中固有的“复杂性爆炸”的问题，通过利用动态表面控制和由ESO提供的相应的估计信号来分别合成输出反馈的轨迹跟踪和姿态稳定定律。给出了稳定性分析，示出了输出反馈轨迹跟踪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，执行关于8形轨迹命令的飞行模拟，以验证所提出的方案的有效性，在使用位置测量时获得稳定和精确的轨迹跟踪。</ 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6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 Ning&option=202" target="_blank" rel="nofollow">Liu Ning;</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=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>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&option=203" rel="nofollow">dynamic surface control;</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=model‐assisted extended state observer&option=203" rel="nofollow">model‐assisted extended state observer;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=output feedback&option=203" rel="nofollow">output feedback;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=quadrotor&option=203" rel="nofollow">quadrotor;</a> </p> <div class="translation"> 机译：动态表面控制;复杂性的爆炸;模型辅助扩展状态观察者;输出反馈;四轮车; </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> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/journal-foreign-detail/0704023067472.html">Model‐assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output‐feedback mechanism</a> <b>[J]</b> . <span> <a 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