Abstract
In this paper, the nonlinear observer based tracking control is addressed for a quadrotor with system uncertainties and external disturbances. Main contributions are as follows: (1) A nonlinear observer is employed to estimate complex unknowns including unmodelled dynamics and external disturbances for a quadrotor, and thereby enhancing robustness of the closed-loop system; (2) An adaptive integral sliding mode based control scheme is then employed to handle tracking control problem of a quadrotor, and achieves high-accuracy tracking performance; (3) The global asymptotic stability of the closed-loop tracking system can be guaranteed rigorously via Lyapunov approach. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.
N. Wang—This work is supported by the National Natural Science Foundation of P. R. China (under Grants 51009017 and 51379002), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Innovation Support Plan for Dalian High-level Talents (under Grant 2015R065), and the Fundamental Research Funds for the Central Universities (under Grant 3132016314).
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Wang, N., Deng, Q., Weng, Y. (2018). Nonlinear Disturbance Observer Based Adaptive Integral Sliding Mode Tracking Control of a Quadrotor. In: Huang, T., Lv, J., Sun, C., Tuzikov, A. (eds) Advances in Neural Networks – ISNN 2018. ISNN 2018. Lecture Notes in Computer Science(), vol 10878. Springer, Cham. https://doi.org/10.1007/978-3-319-92537-0_82
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DOI: https://doi.org/10.1007/978-3-319-92537-0_82
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