Robust attitude trajectory tracking control for a quadrotor under external disturbance

IF 1 4区工程技术 Q3 ENGINEERING, AEROSPACE

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering Pub Date : 2024-06-25 DOI:10.1177/09544100241262689

Tianpeng Huang, Junxiao Ren, Liang Li, Huishuang Shao, Tao Yu

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引用次数: 0

Abstract

Attitude stability plays an important role in quadrotor aircraft. However, it is difficult to design a robust controller to precisely track a desired attitude trajectory in the presence of external disturbance. To address this problem, a nonlinear disturbance estimator with finite-time convergence is proposed to estimate external disturbance. Then, a dynamic surface control scheme based on the disturbance estimator is developed. Therefore, the compensation for external disturbance can be achieved in the designed controller. Furthermore, the L ∞ performance of transient attitude tracking error is achieved by analyzing solution of Lyapunov function. The finite-time convergence of disturbance estimation error and the asymptotical convergence of attitude tracking error of closed-loop system are rigorously proved. Finally, the numerical simulations are carried out to demonstrate the effectiveness of the developed disturbance estimator and control scheme.

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外部干扰下四旋翼飞行器的鲁棒姿态轨迹跟踪控制

姿态稳定性在四旋翼飞行器中发挥着重要作用。然而，在存在外部干扰的情况下，很难设计出一种鲁棒控制器来精确跟踪所需的姿态轨迹。为了解决这个问题，我们提出了一种具有有限时间收敛性的非线性扰动估计器来估计外部扰动。然后，开发了一种基于扰动估计器的动态表面控制方案。因此，所设计的控制器可以实现对外部扰动的补偿。此外，通过分析 Lyapunov 函数的解，实现了瞬态姿态跟踪误差的 L ∞ 性能。严格证明了扰动估计误差的有限时间收敛性和闭环系统姿态跟踪误差的渐近收敛性。最后，还进行了数值模拟，以证明所开发的扰动估计器和控制方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 工程技术-工程：机械

CiteScore

2.40

自引率

18.20%

发文量

212

审稿时长

5.7 months

期刊介绍： The Journal of Aerospace Engineering is dedicated to the publication of high quality research in all branches of applied sciences and technology dealing with aircraft and spacecraft, and their support systems. "Our authorship is truly international and all efforts are made to ensure that each paper is presented in the best possible way and reaches a wide audience. "The Editorial Board is composed of recognized experts representing the technical communities of fifteen countries. The Board Members work in close cooperation with the editors, reviewers, and authors to achieve a consistent standard of well written and presented papers."Professor Rodrigo Martinez-Val, Universidad Politécnica de Madrid, Spain This journal is a member of the Committee on Publication Ethics (COPE).