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Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned

Fayez F M El-Sousy1, Khalid A Alattas2, Omid Mofid3

  • 1Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia.

Sensors (Basel, Switzerland)
|April 12, 2022
PubMed
Summary
This summary is machine-generated.

This study presents a new adaptive non-singular terminal sliding mode control for quadrotor unmanned aerial vehicles (UAVs). The method accurately tracks position and attitude, even with wind disturbances.

Keywords:
disturbance observerfinite-time convergencenon-singular terminal sliding modequadrotor unmanned aerial vehiclewind perturbation

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Aerospace Engineering

Background:

  • Quadrotor unmanned aerial vehicles (UAVs) are susceptible to external perturbations like wind, complicating precise control.
  • Estimating and compensating for unpredictable disturbances is crucial for robust UAV operation.
  • Existing control methods often struggle with accurately determining perturbation bounds in practical systems.

Purpose of the Study:

  • To develop an adaptive non-singular terminal sliding mode control strategy for quadrotors.
  • To design a disturbance observer for estimating wind perturbations in real-time.
  • To achieve accurate and robust position and attitude tracking for quadrotor UAVs under various environmental conditions.

Main Methods:

  • Introduction of quadrotor position and attitude dynamics under wind perturbation.
  • Design of a disturbance observer to estimate wind forces acting on the quadrotor.
  • Proposal of a non-singular terminal sliding surface incorporating the observer's estimated disturbance.
  • Application of Lyapunov stability theory to prove finite-time convergence.
  • Development of an adaptive control mechanism for enhanced robustness and parameter tuning.

Main Results:

  • The proposed adaptive non-singular terminal sliding mode controller demonstrates accurate tracking performance.
  • The disturbance observer effectively estimates wind perturbations, enhancing system robustness.
  • Finite-time convergence of the closed-loop system was mathematically proven.
  • Simulation results validated the method's proficiency and superiority over existing approaches.

Conclusions:

  • The combined finite-time tracker and disturbance observer enable precise quadrotor control in nominal and perturbed environments.
  • The adaptive nature of the controller offers improved robustness and simplifies parameter tuning.
  • This approach significantly enhances the reliability and performance of quadrotor UAVs facing external disturbances.