Abstract
This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.
Highlights
Quadrotor unmanned aerial vehicles (UAVs) are rapidly growing in popularity due to their wide range of civil and military applications such as surveillance, inspection, search and rescue, and disaster response
In [11], a motion controller of quadrotor has been derived by using time scale separation ideas, and numerical simulations confirmed that the motion
According to the simulation results, we can conclude that STESO algorithm has advantage in quick response to the lumped disturbances
Summary
Quadrotor unmanned aerial vehicles (UAVs) are rapidly growing in popularity due to their wide range of civil and military applications such as surveillance, inspection, search and rescue, and disaster response. The researches on quadrotor unmanned aerial vehicle become more and more popular in recent years, and a lot of achievements have been made [4,5,6]. The integral-type control methods are commonly used in the controller design of quadrotor UAVs and have shown to be effective in the attitude and position stabilization control of them. In [8,9], a proportional integral derivative (PID) control method was developed to obtain the stability of quadrotor. In [10], nonlinear PI/PID controller was designed to regulate the posture of quadrotor and showed robustness to aircraft systems effects. In [11], a motion controller of quadrotor has been derived by using time scale separation ideas, and numerical simulations confirmed that the motion
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