Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

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 ga...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2021-09, Vol.103 (1), Article 11
Main Authors: Ahmed, Nigar, Raza, Abid, Shah, Syed Awais Ali, Khan, Rameez
Format: Article
Language:English
Subjects:
Adaptive control
Artificial Intelligence
Attitudes
Control
Control algorithms
Control methods
Control stability
Controllers
Crop yield
Disturbance observers
Dynamic stability
Electrical Engineering
Engineering
Flight control
Mechanical Engineering
Mechatronics
Robotics
Robust control
Short Paper
Sliding mode control
Topical collection on Unmanned Systems
Unmanned aerial vehicles
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Summary: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.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-021-01463-6