Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles
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 wa...
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MDPI AG
2022-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/7/2785 |
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| author | Fayez F. M. El-Sousy Khalid A. Alattas Omid Mofid Saleh Mobayen Jihad H. Asad Paweł Skruch Wudhichai Assawinchaichote |
| author_facet | Fayez F. M. El-Sousy Khalid A. Alattas Omid Mofid Saleh Mobayen Jihad H. Asad Paweł Skruch Wudhichai Assawinchaichote |
| author_sort | Fayez F. M. El-Sousy |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T11:26:04Z |
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| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T11:26:04Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ee838b4672be4c8e9207d5cb7a8fc1372023-12-01T00:05:37ZengMDPI AGSensors1424-82202022-04-01227278510.3390/s22072785Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial VehiclesFayez F. M. El-Sousy0Khalid A. Alattas1Omid Mofid2Saleh Mobayen3Jihad H. Asad4Paweł Skruch5Wudhichai Assawinchaichote6Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi ArabiaDepartment of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi ArabiaFuture Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, TaiwanFuture Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, TaiwanDepartment of Physics, Faculty of Applied Sciences, Palestine Technical University, Kadoorie, Tulkarm P.O. Box 7, PalestineDepartment of Automatic Control and Robotics, AGH University of Science and Technology, 30-059 Kraków, PolandDepartment of Electronic and Telecommunication Engineering, Faculty of Engineering, King Mongkut’s University of Technology Thonburi, Bangkok 10140, ThailandIn 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.https://www.mdpi.com/1424-8220/22/7/2785quadrotor unmanned aerial vehicledisturbance observernon-singular terminal sliding modefinite-time convergencewind perturbation |
| spellingShingle | Fayez F. M. El-Sousy Khalid A. Alattas Omid Mofid Saleh Mobayen Jihad H. Asad Paweł Skruch Wudhichai Assawinchaichote Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles Sensors quadrotor unmanned aerial vehicle disturbance observer non-singular terminal sliding mode finite-time convergence wind perturbation |
| title | Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles |
| title_full | Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles |
| title_fullStr | Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles |
| title_full_unstemmed | Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles |
| title_short | Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles |
| title_sort | non singular finite time tracking control approach based on disturbance observers for perturbed quadrotor unmanned aerial vehicles |
| topic | quadrotor unmanned aerial vehicle disturbance observer non-singular terminal sliding mode finite-time convergence wind perturbation |
| url | https://www.mdpi.com/1424-8220/22/7/2785 |
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