Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer
The problem of quadrotor attitude and position control is considered in the presence of generally lumped disturbances: external disturbances and model uncertainty. The improved active disturbance rejection controller (ADRC) for quadrotor trajectory tracking is proposed for compensating the lumped di...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/6/11/350 |
| _version_ | 1827644661969190912 |
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| author | Wenxing Zhu Lihui Wang Yuan Ren Yong Li |
| author_facet | Wenxing Zhu Lihui Wang Yuan Ren Yong Li |
| author_sort | Wenxing Zhu |
| collection | DOAJ |
| description | The problem of quadrotor attitude and position control is considered in the presence of generally lumped disturbances: external disturbances and model uncertainty. The improved active disturbance rejection controller (ADRC) for quadrotor trajectory tracking is proposed for compensating the lumped disturbances. Firstly, the improved sigmoid tracking differentiator (ISTD), combining improved Sigmoid function and sliding mode terminal attractor is proposed, which can accelerate the global convergence rate and effectively reduce the chattering. Secondly, a novel variable gain finite-time extended state observer (VGFESO) approach is proposed to effectively estimate the lumped disturbances, while the observation errors are convergent to zero in finite time. Then, a super-twisting sliding model controller (STWSMC) is utilized for tracking control of the desired position and attitude. Finally, the convergence of VGFESO and the closed-loop stability of the control system are proved. The results show that the convergence time of the proposed control scheme is the shortest, and the integral absolute error of improved ADRC is reduced from 2.64 to 0.91. The anti-disturbance capability of the proposed controller is fully illustrated when compared with ADRC and robust adaptive nonsingular fast terminal sliding-mode controller (RANFTSMC). |
| first_indexed | 2024-03-09T18:23:38Z |
| format | Article |
| id | doaj.art-9d3ab959c50b4b209861b7e3ed09b30d |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T18:23:38Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-9d3ab959c50b4b209861b7e3ed09b30d2023-11-24T08:06:45ZengMDPI AGDrones2504-446X2022-11-0161135010.3390/drones6110350Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State ObserverWenxing Zhu0Lihui Wang1Yuan Ren2Yong Li3Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaKey Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaThe problem of quadrotor attitude and position control is considered in the presence of generally lumped disturbances: external disturbances and model uncertainty. The improved active disturbance rejection controller (ADRC) for quadrotor trajectory tracking is proposed for compensating the lumped disturbances. Firstly, the improved sigmoid tracking differentiator (ISTD), combining improved Sigmoid function and sliding mode terminal attractor is proposed, which can accelerate the global convergence rate and effectively reduce the chattering. Secondly, a novel variable gain finite-time extended state observer (VGFESO) approach is proposed to effectively estimate the lumped disturbances, while the observation errors are convergent to zero in finite time. Then, a super-twisting sliding model controller (STWSMC) is utilized for tracking control of the desired position and attitude. Finally, the convergence of VGFESO and the closed-loop stability of the control system are proved. The results show that the convergence time of the proposed control scheme is the shortest, and the integral absolute error of improved ADRC is reduced from 2.64 to 0.91. The anti-disturbance capability of the proposed controller is fully illustrated when compared with ADRC and robust adaptive nonsingular fast terminal sliding-mode controller (RANFTSMC).https://www.mdpi.com/2504-446X/6/11/350quadrotor trajectory trackingactive disturbance rejection controltracking differentiatorfinite-time extended state observersuper-twisting sliding model control |
| spellingShingle | Wenxing Zhu Lihui Wang Yuan Ren Yong Li Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer Drones quadrotor trajectory tracking active disturbance rejection control tracking differentiator finite-time extended state observer super-twisting sliding model control |
| title | Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer |
| title_full | Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer |
| title_fullStr | Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer |
| title_full_unstemmed | Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer |
| title_short | Trajectory Tracking of UAVs Using Sigmoid Tracking Differentiator and Variable Gain Finite-Time Extended State Observer |
| title_sort | trajectory tracking of uavs using sigmoid tracking differentiator and variable gain finite time extended state observer |
| topic | quadrotor trajectory tracking active disturbance rejection control tracking differentiator finite-time extended state observer super-twisting sliding model control |
| url | https://www.mdpi.com/2504-446X/6/11/350 |
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