Nonlinear Disturbance Observer-Based Control for Quadrotor UAV

Recently, the control problem of a quadrotor unmanned aerial vehicle (UAV) has been undergoing massive research. In this paper, a nonlinear disturbance observer-based (NDO) controller is proposed for attitude and altitude control of a quadrotor, in order to estimate and compensate disturbances that are imposed naturally on the quadrotor due to aerodynamics and parameter uncertainties. It is demonstrated herein that the proposed observer can estimate external disturbances asymptotically. Subsequently, it is employed with an input-output feedback linearization (FBL) controller - rendered as a baseline controller - to achieve a composite controller capable of rejecting external disturbances rigorously. The resulting controller is compared with a FBL controller that is equipped with an integral component. Simulation results demonstrate a superior performance using the former controller for disturbance rejection.

[1]  Sauro Longhi,et al.  A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles , 2011 .

[2]  L. Fridman,et al.  Feedback linearization and high order sliding mode observer for a quadrotor UAV , 2006, International Workshop on Variable Structure Systems, 2006. VSS'06..

[3]  Jun Zhou,et al.  Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation. , 2017, ISA transactions.

[4]  Juhoon Back,et al.  Nonlinear disturbance observer based robust attitude tracking controller for quadrotor UAVs , 2014 .

[5]  Tammaso Bresciani,et al.  Modelling, Identification and Control of a Quadrotor Helicopter , 2008 .

[6]  Toshio Fukuda,et al.  Design of a nonlinear disturbance observer , 2000, IEEE Trans. Ind. Electron..

[7]  Lei Guo,et al.  Disturbance-Observer-Based Control and Related Methods—An Overview , 2016, IEEE Transactions on Industrial Electronics.

[8]  Nacer K. M'Sirdi,et al.  Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle , 2006, Adv. Robotics.

[9]  Hassan K. Khalil,et al.  A Nonlinear High-Gain Observer for Systems With Measurement Noise in a Feedback Control Framework , 2013, IEEE Transactions on Automatic Control.

[10]  P. Castillo,et al.  Stabilization of a mini rotorcraft with four rotors , 2005, IEEE Control Systems.

[11]  Aaron M. Dollar,et al.  Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control , 2012, Autonomous Robots.

[12]  Jun Yang,et al.  Nonlinear disturbance observer-based control for multi-input multi-output nonlinear systems subject to mismatching condition , 2012, Int. J. Control.

[13]  Fahad Mumtaz Malik,et al.  High gain and super-twisting sliding mode observers for the adaptive control of quadrotor UAV , 2016, 2016 13th International Bhurban Conference on Applied Sciences and Technology (IBCAST).

[14]  Rafael Fierro,et al.  Adaptive Control of a Quadrotor with Dynamic Changes in the Center of Gravity , 2011 .

[15]  Hyungbo Shim,et al.  Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer , 2008, Autom..

[16]  Gang Tao,et al.  Robust Backstepping Sliding-Mode Control and Observer-Based Fault Estimation for a Quadrotor UAV , 2016, IEEE Transactions on Industrial Electronics.

[17]  Samir Bouabdallah,et al.  Design and control of quadrotors with application to autonomous flying , 2007 .

[18]  Abdelaziz Benallegue,et al.  Exact linearization and sliding Mode observer for a quadrotor Unmanned Aerial Vehicle , 2006, Int. J. Robotics Autom..

[19]  Paul Ortiz,et al.  Trajectory tracking of a quadrotor using sliding mode control , 2016, IEEE Latin America Transactions.

[20]  Zion Tsz Ho Tse,et al.  Development of an indoor guidance system for unmanned aerial vehicles with power industry applications , 2017 .

[21]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[22]  Mehdi Bagheri,et al.  Wireless Charging Techniques for UAVs: A Review, Reconceptualization, and Extension , 2018, IEEE Access.

[23]  A. J. Krener.  Feedback linearization , 1998 .

[24]  Wen-Hua Chen,et al.  Disturbance observer based control for nonlinear systems , 2004 .