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

Journal article

Authors/Editors

WUDHICHAI ASSAWINCHAICHOTE

Strategic Research Themes

Other (Strategic Research Themes)

Publication Details

Author list: El-Sousy, Fayez F. M.; Alattas, Khalid A.; Mofid, Omid; Mobayen Saleh; Asad, Jihad H.; Skruch, Paweł; Assawinchaichote, Wudhichai;

Publisher: MDPI

Publication year: 2022

Volume number: 22

Issue number: 7

ISSN: 14248220

eISSN: 1424-8220

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85127576590&doi=10.3390%2fs22072785&partnerID=40&md5=70fdc4c67983a0272caf438068bd8584

Languages: English-Great Britain (EN-GB)

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Abstract

In this paper, a disturbance observer based on the non-singular terminal sliding mode control method was presented for the quadrotor in the presence of wind perturbation. First, the position and attitude dynamical equation of the quadrotor was introduced in the existence of windy perturbation. It was difficult to exactly determine the upper bound of the perturbations in the practical systems such as robot manipulators and quadrotor UAVs. Then, a disturbance observer was designed for the estimation of wind perturbation which was entered to the quadrotor system at any moment. Afterward, a non-singular terminal sliding surface was proposed based on the disturbance observer variable. Furthermore, finite time convergence of the closed-loop position and attitude models of the quadrotor was proved using Lyapunov theory concept. Unlike the existing methods, the new adaptive non-singular terminal sliding mode tracker for quadrotor unmanned aerial vehicles enabled accurate tracking control, robust performance, and parameter tuning. Through the combination of the finite time tracker and disturbance observer, the position and attitude tracking of quadrotor UAVs could be accurately performed not only in the nominal environment but also in the existence of different types of perturbations. Finally, simulation results based on the recommended method were provided to validate the proficiency of the suggested method. Moreover, comparison results with another existing study were presented to prove the success of the proposed method. © 2022 by the authors. Licensee MDPI, Basel, Switzerland.

Keywords

disturbance observer, finite-time convergence, non-singular terminal sliding mode, quadrotor unmanned aerial vehicle, wind perturbation