Robust Dynamic Geofencing Attitude Control for Quadrotor Systems

In this article, a robust disturbance rejection controller is designed for quadrotor attitude tracking within dynamic safety operational envelopes. A scalable constraint technique based on the unified barrier function is developed to transform the attitude restricted within the dynamic safety envelo...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2023-02, Vol.70 (2), p.1861-1869
Main Authors: Zheng, Zhi, Su, Xiaojie, Jiang, Tao, Huang, Jiangshuai
Format: Article
Language:English
Subjects:
Asymptotic methods
Attitude control
Backstepping
Control systems design
Disturbance observers
Disturbance rejection
dynamic geofencing
Dynamic stability
dynamic surface control (DSC)
Dynamics
Geofences
Nonlinear dynamical systems
Perturbation
Perturbation methods
quadrotor control
Robust control
Safety
Sliding mode control
unified barrier function (UBF)
Vehicle dynamics
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Summary:In this article, a robust disturbance rejection controller is designed for quadrotor attitude tracking within dynamic safety operational envelopes. A scalable constraint technique based on the unified barrier function is developed to transform the attitude restricted within the dynamic safety envelope into a new unconstrained state variables. The closed-form state stabilization control input based on the operational safety rules derived from backstepping method with dynamic surface control can simultaneously guarantee the safety and asymptotic stability of underlying system. A sliding mode disturbance observer is used to estimate and compensate for unknown time-varying perturbations with minor chattering and rapid convergence. Finally, numerical simulations and platform experiments are conducted to verify the effectiveness of the proposed dynamic geofencing attitude control.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2022.3159919