Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind
This paper presents a fixed-time extended state observer-based adaptive sliding mode controller evaluated in a quadrotor unmanned aerial vehicle subject to severe turbulent wind while executing a desired trajectory. Since both the state and model of the system are assumed to be partially known, the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/7/12/700 |
| _version_ | 1797381387123163136 |
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| author | Armando Miranda-Moya Herman Castañeda Hesheng Wang |
| author_facet | Armando Miranda-Moya Herman Castañeda Hesheng Wang |
| author_sort | Armando Miranda-Moya |
| collection | DOAJ |
| description | This paper presents a fixed-time extended state observer-based adaptive sliding mode controller evaluated in a quadrotor unmanned aerial vehicle subject to severe turbulent wind while executing a desired trajectory. Since both the state and model of the system are assumed to be partially known, the observer, whose convergence is independent from the initial states of the system, estimates the full state, model uncertainties, and the effects of turbulent wind in fixed time. Such information is then compensated via feedback control conducted by a class of adaptive sliding mode controller, which is robust to perturbations and reduces the chattering effect by non-overestimating its adaptive gain. Furthermore, the stability of the closed-loop system is analyzed by means of the Lyapunov theory. Finally, simulation results validate the feasibility and advantages of the proposed strategy, where the observer enhances performance. For further demonstration, a comparison with an existent approach is provided. |
| first_indexed | 2024-03-08T20:50:44Z |
| format | Article |
| id | doaj.art-6a813dfa2053468d9f1eee869f3e5aa7 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-08T20:50:44Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-6a813dfa2053468d9f1eee869f3e5aa72023-12-22T14:03:59ZengMDPI AGDrones2504-446X2023-12-0171270010.3390/drones7120700Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent WindArmando Miranda-Moya0Herman Castañeda1Hesheng Wang2Tecnologico de Monterrey, School of Sciences and Engineering, Monterrey 64849, MexicoTecnologico de Monterrey, School of Sciences and Engineering, Monterrey 64849, MexicoDepartment of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University, Shanghai 200240, ChinaThis paper presents a fixed-time extended state observer-based adaptive sliding mode controller evaluated in a quadrotor unmanned aerial vehicle subject to severe turbulent wind while executing a desired trajectory. Since both the state and model of the system are assumed to be partially known, the observer, whose convergence is independent from the initial states of the system, estimates the full state, model uncertainties, and the effects of turbulent wind in fixed time. Such information is then compensated via feedback control conducted by a class of adaptive sliding mode controller, which is robust to perturbations and reduces the chattering effect by non-overestimating its adaptive gain. Furthermore, the stability of the closed-loop system is analyzed by means of the Lyapunov theory. Finally, simulation results validate the feasibility and advantages of the proposed strategy, where the observer enhances performance. For further demonstration, a comparison with an existent approach is provided.https://www.mdpi.com/2504-446X/7/12/700fixed-time extended state observeradaptive sliding mode controlrobust controldisturbance rejectionwind turbulencequadrotor UAV |
| spellingShingle | Armando Miranda-Moya Herman Castañeda Hesheng Wang Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind Drones fixed-time extended state observer adaptive sliding mode control robust control disturbance rejection wind turbulence quadrotor UAV |
| title | Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind |
| title_full | Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind |
| title_fullStr | Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind |
| title_full_unstemmed | Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind |
| title_short | Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind |
| title_sort | fixed time extended observer based adaptive sliding mode control for a quadrotor uav under severe turbulent wind |
| topic | fixed-time extended state observer adaptive sliding mode control robust control disturbance rejection wind turbulence quadrotor UAV |
| url | https://www.mdpi.com/2504-446X/7/12/700 |
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