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Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

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Abstract

A composite disturbance observer based control (CDOBC) technique for a quadrotor attitude is presented in this paper. The structure of CDOBC consists of a robust equivalent controller constructed using adaptive backstepping sliding mode control (ABSSMC), disturbance observer (DO) and an auxiliary gain to combine controller and NDO. In order to construct the DO, it is assumed that the quadrotor attitude model is effected by unknown bounded disturbances. During the development of DO, a state estimator is also constructed to avoid the situation of lack of states availability. Hence, invoking state estimator in estimation criteria followed by combining it with control scheme through an auxiliary gain yields the desired CDOBC based on ABSSMC. To analyze the dynamic and steady state performance of the developed control scheme, a stability proof followed by the simulation study is presented. In addition, before concluding the effectiveness of developed CDOBC, a comparative analysis is conducted by developing CDOBC based on backstepping and adaptive sliding mode control methods.

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Funding

No funds, grants, or other supports was received.

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Authors and Affiliations

  1. College of Automation, NUAA, Nanjing, China

    Nigar Ahmed

  2. College of Electrical and Mechanical Engineering, NUST, Islamabad, Pakistan

    Abid Raza & Rameez Khan

  3. School of Electrical Engineering, SEU, Nanjing, China

    Syed Awais Ali Shah

Authors
  1. Nigar Ahmed
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  2. Abid Raza
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  3. Syed Awais Ali Shah
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  4. Rameez Khan
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Contributions

Nigar Ahmed developed the control algorithm based on the composite control design theory. Abid Raza validated the control design and performed stability analysis. Syed Awais Ali Shah conducted the simulation study and Rameez Khan made constructive comments on the control design by reviewing the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Nigar Ahmed.

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The authors declare that they have no competing interests.

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Appendix

Appendix

I: Although chattering reduction criteria has been presented in this research paper, however, significant chattering occurring in the control inputs have been noticed in the simulation study. The chattering phenomenon can lead to the wear and tear, or damage the actuator. Therefore, addressing the chattering in the controllers is an interesting research area. Two popular methods with the ability to solve the chattering includes neural networks control and asymptotic sliding mode control methods. By using the neural network techniques, instead of using the switching function, a neural network can be constructed to negate the use of switching function. And, in the method of asymptotic sliding mode control, the control input is treated as an additional state and then an auxiliary controller is designed to minimize the chattering effect.

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Ahmed, N., Raza, A., Shah, S.A.A. et al. Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude. J Intell Robot Syst 103, 11 (2021). https://doi.org/10.1007/s10846-021-01463-6

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  • DOI: https://doi.org/10.1007/s10846-021-01463-6

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