Abstract
This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method.
Similar content being viewed by others
References
Cai, G.W., Chen, B.M., Lee, T.H.: Unmanned Rotorcraft Systems, 1st edn. Springer, NY (2011)
Shen, Z., Li, F., Cao, X., et al.: Prescribed performance dynamic surface control for trajectory tracking of quadrotor UAV with uncertainties and input constraints. Int. J. Control (2020). https://doi.org/10.1080/00207179.2020.1743366
Bouabdallah, S., Noth, A., Siegwart, R.: PID vs LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2451–2456 (2004)
Raffo, G.V., Ortega, M.G., Rubio, F.R.: Robust nonlinear control for path tracking of a quad-rotor helicopter. Asian J. Control 17(1), 142–156 (2015)
Jafarnejadsani, H., Sun, D., Lee, H., et al.: Optimized L1 adaptive controller for trajectory tracking of an indoor quadrotor. J. Guid. Control Dyn. 40(6), 1415–1427 (2017)
Li, C., Zhang, Y., Li, P.: Full control of a quadrotor using parameter-scheduled backstepping method: implementation and experimental tests. Nonlinear Dyn. 89, 1259–1278 (2017)
Raffo, G.V., Ortega, M.G., Rubio, F.R.: An integral predictive/nonlinear \(H_\infty \) control structure for a quadrotor helicopter. Automatica 46(1), 29–39 (2010)
Li, S., Yang, J., Chen, W.H., et al.: Disturbance Observer-Based Control: Methods and Applications. CRC Press, Boca Raton (2014)
Guo, Z., Guo, J., Zhou, J., Chang, J.: Robust tracking for hypersonic reentry vehicles via disturbance estimation-triggered control. IEEE Trans. Aerosp. Electron. Syst. 56(2), 1279–1289 (2020)
Wang, H., Chen, M.: Trajectory tracking control for an indoor quadrotor UAV based on the disturbance observer. Trans. Inst. Meas. Control 38(6), 675–692 (2016)
Zhang, Y., Chen, Z., Zhang, X., et al.: A novel control scheme for quadrotor UAV based upon active disturbance rejection control. Aerosp. Sci. Technol. 79, 601–609 (2018)
Lin, X., Yu, Y., Sun, C.: A decoupling control for quadrotor UAV using dynamic surface control and sliding mode disturbance observer. Nonlinear Dyn. 97(1), 781–795 (2019)
Sun, H., Li, S., Sun, C.: Finite time integral sliding mode control of hypersonic vehicles. Nonlinear Dyn. 73(1–2), 229–244 (2013)
Guo, Z., Guo, J., Chang, J., et al.: Coupling effect-triggered control strategy for hypersonic flight vehicles with finite-time convergence. Nonlinear Dyn. 95(2), 1009–1025 (2019)
Zhao, Z., Yang, J., Li, S., et al.: Finite-time super-twisting sliding mode control for Mars entry trajectory tracking. J. Frankl. Inst. Eng. Appl. Math. 352(11), 5226–5248 (2015)
Zhao, Z., Yang, J., Li, S., et al.: Drag-based composite super-twisting sliding mode control law design for Mars entry guidance. Adv. Space Res. 57(12), 2508–2518 (2016)
Zhang, L., Wei, C., Jing, L., et al.: Fixed-time sliding mode attitude tracking control for a submarine-launched missile with multiple disturbances. Nonlinear Dyn. 93(4), 2543–2563 (2018)
Zhao, Z., Li, C., Yang, J., et al.: Output feedback continuous terminal sliding mode guidance law for missile-target interception with autopilot dynamics. Aerosp. Sci. Technol. 86, 256–267 (2019)
Fang, X., Liu, F.: High-order mismatched disturbance rejection control for small-scale unmanned helicopter via continuous nonsingular terminal sliding-mode approach. Int. J. Robust Nonlinear Control 29(4), 935–2948 (2019)
Fang, X., Shang, Y.: Trajectory tracking control for small-scale unmanned helicopters with mismatched disturbances based on a continuous sliding mode approach. Int. J. Aerosp. Eng. 2019, Article ID 6235862. https://doi.org/10.1155/2019/6235862
Zhang, J., Ren, Z., Deng, C., et al.: Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs. Nonlinear Dyn. 97(1), 609–627 (2019)
Mu, B.X., Zhang, K.W., Shi, Y.: Integral sliding mode flight controller design for a quadrotor and application in a heterogeneous multi-agent system. IEEE Trans. Ind. Electron. 64(12), 9389–9398 (2017)
Wang, H., Ye, X., Tian, Y., et al.: Model-free-based terminal smc of quadrotor attitude and position. IEEE Trans. Aerosp. Electron. Syst. 52(5), 2519–2528 (2016)
Xiong, J., Zhang, G.: Global fast dynamic terminal sliding mode control for a quadrotor UAV. ISA Trans. 66, 233–240 (2017)
Feng, Y., Yu, X., Man, Z.: Non-singular terminal sliding mode control of rigid manipulators. Automatica 38(12), 2159–2167 (2002)
Xu, B.: Composite learning finite-time control with application to quadrotors. IEEE Trans. Syst. Man Cybern. Syst. 48(10), 1806–1815 (2018)
Levant, A.: Higher-order sliding modes, differentiation and output-feedback control. Int. J. Control 76(9–10), 924–941 (2003)
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, NJ (2002)
Li, S., Tian, Y.: Finite-time stability of cascaded time-varying systems. Int. J. Control 80(4), 646–657 (2007)
Bhat, S.P., Bernstein, D.S.: Geometric homogeneity with applications to finite-time stability. Math. Control Signal Syst. 17(2), 101–127 (2005)
Yi, D., Su, J., Liu, C., Quddus, M., Chen, W.-H.: A machine learning based personalized system for driving state recognition. Transp. Res. Pt. C Emerg. Technol. 105, 241–261 (2019)
Yi, D., Su, J., Hu, L., et al.: Implicit personalization in driving assistance: state-of-the-art and open issues. IEEE Trans. Intell. Veh. 5(3), 397–413 (2020)
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
This work was supported by grants from the Natural Science Foundation of China (Nos. 61903192, 61803059), Natural Science Foundation of Jiangsu (No. BK20190402), Open Project Program of Ministry of Education, Key Laboratory of Measurement and CSE (No. MCCSE2019A01), Shenzhen Science and Technology Innovation Committee (JCYJ20190813152603594), Innovation Team Project of Chongqing Education Committee (CXTDX201601019).
Rights and permissions
About this article
Cite this article
Zhao, Z., Cao, D., Yang, J. et al. High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics. Nonlinear Dyn 102, 2583–2596 (2020). https://doi.org/10.1007/s11071-020-06050-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-020-06050-2