Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach.
Disturbance suppression
Equivalent input disturbance
Globally uniformly ultimately bounded
Quadrotor unmanned aerial vehicle
Sliding-mode observer
Journal
ISA transactions
ISSN: 1879-2022
Titre abrégé: ISA Trans
Pays: United States
ID NLM: 0374750
Informations de publication
Date de publication:
Sep 2019
Sep 2019
Historique:
received:
01
10
2018
revised:
23
12
2018
accepted:
20
02
2019
pubmed:
11
3
2019
medline:
11
3
2019
entrez:
11
3
2019
Statut:
ppublish
Résumé
This paper presents a new control scheme for quadrotor unmanned aerial vehicle attitude control and disturbance suppression. A quadrotor dynamic model is divided into two subsystems: fully-actuated and under-actuated. While the PID method is used to control the fully-actuated subsystem, a sliding-mode-observer-based equivalent-input-disturbance approach is used to control the under-actuated subsystem. The system design is simple, and it is globally uniformly ultimately bounded. Simulations and comparisons demonstrate the effectiveness of the method.
Identifiants
pubmed: 30851959
pii: S0019-0578(19)30102-8
doi: 10.1016/j.isatra.2019.02.028
pii:
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
286-297Informations de copyright
Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.