期刊
IEEE ACCESS
卷 8, 期 -, 页码 8300-8313出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.2964013
关键词
Disturbance observer; high-order disturbances; quadrotor; sliding mode control; tracking control
资金
- National Natural Science Foundation of China [61174102]
- Jiangsu Natural Science Foundation of China [BK20171417]
- Scientific Research Foundation for Nanjing University of Aeronautics and Astronautics [YAH19073]
- Fundamental Research Funds for the Central Universities [NG2019002]
In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development of disturbance observer (DO) based tracking control scheme. To obtain the desired tracking performance, standard sliding mode control (SMC) method is utilized while for disturbance estimation, DO based on Simpson & x2019;s approximation is developed and incorporated with SMC. Furthermore, in this paper, both matched and mismatched disturbances are considered. Hence, a matrix associated with disturbances is invoked in the system model. To show the effective and desired control performance of developed disturbance observer-based control (DOBC) scheme, extensive simulations are conducted, followed by presenting the results in the paper.
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