High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System
This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhance...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-11-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/7/12/357 |
| _version_ | 1798040919774068736 |
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| author | Chunlin Song Changzhu Wei Feng Yang Naigang Cui |
| author_facet | Chunlin Song Changzhu Wei Feng Yang Naigang Cui |
| author_sort | Chunlin Song |
| collection | DOAJ |
| description | This article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme. |
| first_indexed | 2024-04-11T22:14:19Z |
| format | Article |
| id | doaj.art-1b7ae4df28514fd29f651caf42064128 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-04-11T22:14:19Z |
| publishDate | 2018-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-1b7ae4df28514fd29f651caf420641282022-12-22T04:00:27ZengMDPI AGElectronics2079-92922018-11-0171235710.3390/electronics7120357electronics7120357High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude SystemChunlin Song0Changzhu Wei1Feng Yang2Naigang Cui3School of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Astronautics, Harbin Institute of Technology, Harbin 150001, ChinaThis article presents a fixed-time active disturbance rejection control approach for the attitude control problem of quadrotor unmanned aerial vehicle in the presence of dynamic wind, mass eccentricity and an actuator fault. The control scheme applies the feedback linearization technique and enhances the performance of the traditional active disturbance rejection control (ADRC) based on the fixed-time high-order sliding mode method. A switching-type uniformly convergent differentiator is used to improve the extended state observer for estimating and attenuating the lumped disturbance more accurately. A multivariable high-order sliding mode feedback law is derived to achieve fixed time convergence. The timely convergence of the designed extended state observer and the feedback law is proved theoretically. Mathematical simulations with detailed actuator models and real time experiments are performed to demonstrate the robustness and practicability of the proposed control scheme.https://www.mdpi.com/2079-9292/7/12/357quadrotorADRCfixed-time extended state observer (FTESO)high-order sliding modewind disturbanceactuator faultmass eccentricity |
| spellingShingle | Chunlin Song Changzhu Wei Feng Yang Naigang Cui High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System Electronics quadrotor ADRC fixed-time extended state observer (FTESO) high-order sliding mode wind disturbance actuator fault mass eccentricity |
| title | High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System |
| title_full | High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System |
| title_fullStr | High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System |
| title_full_unstemmed | High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System |
| title_short | High-Order Sliding Mode-Based Fixed-Time Active Disturbance Rejection Control for Quadrotor Attitude System |
| title_sort | high order sliding mode based fixed time active disturbance rejection control for quadrotor attitude system |
| topic | quadrotor ADRC fixed-time extended state observer (FTESO) high-order sliding mode wind disturbance actuator fault mass eccentricity |
| url | https://www.mdpi.com/2079-9292/7/12/357 |
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