Modeling and Nonlinear Robust Tracking Control of a Three-Rotor UAV Based on RISE Method

Wei Hao,Haijun Wang,Wei Yuan,Wenlai Ma,Yujie Du

doi:10.1109/access.2021.3064595

Wei Hao, Haijun Wang + Show 3 more

Open Access

https://doi.org/10.1109/access.2021.3064595

Copy DOI

Journal: IEEE Access	Publication Date: Jan 1, 2021
Citations: 31	License type: CC BY 4.0

Affiliation: Binzhou Technician College, Binzhou University

Abstract

In this paper, the flight principle and accurate dynamics of three-rotor unmanned aerial vehicle (UAV) are detailedly analyzed and a nonlinear robust tracking control strategy is proposed considering unknown time-varying external disturbances. Aiming at the tracking control of the typical underactuated system, the dynamic model of the three-rotor UAV is divided into outer-loop position subsystem and inner-loop attitude subsystem. The feedback linearization algorithm is employed to design the outer-loop controller for the trajectory tracking of the UAV. For the inner-loop control of the UAV, the robust integral of the signum of the error (RISE) method is utilized to formulate the robust attitude controller to deal with the external disturbances. The stability of the closed loop system and the asymptotical tracking of the desired trajectory are proved via Lyapunov based stability analysis. Real-time experiments are implemented to validate the performance of the proposed control strategy.

Highlights

Over the past few years, the multi-rotor unmanned aerial vehicle (UAV) have shown great advantages in both military and civil applications [1]–[3], including surveillance, fire fighting and so on [4], [5]
In [7], the 6 degree-of-freedom (DOF) dynamic model for a three-rotor UAV is first obtained via the Newton-Euler approach, and the saturating function based sequential control strategy is employed to achieve stabilization of its attitude and position, which is verified through real-time experiments on the self-build simulinkbased platform
In [9], the control scheme consisting of a PID based attitude control and a linear quadratic translational control for a three-rotor UAV is presented, and the numerical simulation results demonstrate the efficiency of both attitude and position control schemes

Summary

INTRODUCTION

Over the past few years, the multi-rotor UAVs have shown great advantages in both military and civil applications [1]–[3], including surveillance, fire fighting and so on [4], [5]. In [7], the 6 degree-of-freedom (DOF) dynamic model for a three-rotor UAV is first obtained via the Newton-Euler approach, and the saturating function based sequential control strategy is employed to achieve stabilization of its attitude and position, which is verified through real-time experiments on the self-build simulinkbased platform. In our previous work [22], a nonlinear robust fault tolerant position tracking control strategy is proposed for a three-rotor UAV to deal with the rear servo’s stuck fault together with parametric uncertainties and unknown external disturbances. To address the aforementioned problems, the inner-and-outer-loop based control strategy is applied in this paper for a three-rotor UAV, which is affected by unknown external time-varying disturbances. The dynamic model of the three-rotor UAV of mass m ∈ R+ and inertial J ∈ R3×3 can be illustrated via the following differential equation, expressed in the body-fixed reference frame {B}:. Recalling the second equation (1) and (11), the dynamics of the three-rotor UAV can be expressed as follows

CONTROL DESIGN Remark 2

OUTER-LOOP CONTROL DESIGN

INNER-LOOP CONTROL DESIGN

EXPERIMENTAL RESULTS

CONCLUSION