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- Title
Quadcopter UAVs Extended States/Disturbance Observer-Based Nonlinear Robust Backstepping Control.
- Authors
Thanh, Ha Le Nhu Ngoc; Huynh, Tuan Tu; Vu, Mai The; Mung, Nguyen Xuan; Phi, Nguyen Ngoc; Hong, Sung Kyung; Vu, Truong Nguyen Luan
- Abstract
A trajectory tracking control for quadcopter unmanned aerial vehicle (UAV) based on a nonlinear robust backstepping algorithm and extended state/disturbance observer (ESDO) is presented in this paper. To obtain robust attitude stabilization and superior performance of three-dimension position tracking control, the construction of the proposed algorithm can be separated into three parts. First, a mathematical model of UAV negatively influenced by exogenous disturbances is established. Following, an extended state/disturbance observer using a general second-order model is designed to approximate undesirable influences of perturbations on the UAVs dynamics. Finally, a nonlinear robust controller is constructed by an integration of the nominal backstepping technique with ESDO to enhance the performance of attitude and position control mode. Robust stability of the closed-loop disturbed system is obtained and guaranteed through the Lyapunov theorem without precise knowledge of the upper bound condition of perturbations. Lastly, a numerical simulation is carried out and compared with other previous controllers to demonstrate the great advantage and effectiveness of the proposed control method.
- Subjects
ROBUST control; CLOSED loop systems; MATHEMATICAL models; BACKSTEPPING control method; DRONE aircraft
- Publication
Sensors (14248220), 2022, Vol 22, Issue 14, pN.PAG
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s22145082