Finite-time control for a UAV system based on finite-time disturbance observer

Deqing Huang; Tianpeng Huang; Na QinYanan LiYong Yang

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Finite-time control for a UAV system based on finite-time disturbance observer

机译：Finite-time control for a UAV system based on finite-time disturbance observer

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摘要

This paper addresses the problem of finite-time control of an unmanned aerial vehicle (UAV) system subject to input saturation and external disturbance. The dynamic model of the UAV is described in detail using Newton-Euler equations. A finite-time nonlinear disturbance observer (NDO) is presented to estimate external disturbance acting on altitude and attitude channels of the UAV. It is shown that the observation error can converge to zero in finite time. To stabilize the UAV system with input saturation, an auxiliary system is designed to compensate for the saturation effect. Furthermore, a fast terminal sliding mode controller (FTSMC) is developed to achieve trajectory tracking control/stabilization of the UAV. It is proved that the tracking errors for desired altitude and attitude are guaranteed to converge to zero in finite time. Simulations and experiments have been carried out to illustrate the robustness and effectiveness of the proposed control algorithm, where its superiority compared with active disturbance rejection control (ADRC) has been demonstrated.

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来源
《Aerospace science and technology》 |2022年第10期|107825.1-107825.21|共21页
作者
Deqing Huang; Tianpeng Huang; Na QinYanan LiYong Yang;
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作者单位

School of Electrical Engineering, Southwest jiaotong University, Chengdu 611756, China;

School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;

Department of Engineering and Design, University of Sussex, Brighton BN1 9RH, UKSchool of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
UAV; Fast terminal sliding mode; Finite-time control; Finite-time disturbance observer; Input saturation; External disturbance;

Finite-time control for a UAV system based on finite-time disturbance observer

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