Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach.

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering

Background:

• Quadrotor unmanned aerial vehicles (UAVs) require robust attitude control systems.
• Disturbance suppression is critical for stable UAV operation in dynamic environments.

Purpose of the Study:

• To develop and validate a new control scheme for quadrotor UAV attitude control.
• To address disturbance suppression challenges in both fully-actuated and under-actuated subsystems.

Main Methods:

• The quadrotor dynamic model is decomposed into fully-actuated and under-actuated subsystems.
• Proportional-Integral-Derivative (PID) control is applied to the fully-actuated subsystem.
• A sliding-mode-observer-based equivalent-input-disturbance (EID) approach is employed for the under-actuated subsystem.

Main Results:

• The proposed control scheme demonstrates global uniform ultimate boundedness.
• Simulations confirm the effectiveness of the integrated control strategy.
• Comparative analysis validates the performance against existing methods.

Conclusions:

• The developed control scheme offers a simple yet effective solution for quadrotor UAV attitude control and disturbance rejection.
• The hybrid control approach successfully manages complex dynamics.
• The method provides a robust framework for enhancing UAV stability and performance.