Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle

A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic whic...

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Bibliographic Details
Main Authors: Wei Shang, Shichao Hu, Xiao Li, Xikai Tu
Format: Article
Language:English
Published: SAGE Publishing 2020-10-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881420940473
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spelling doaj-a4b3c6cea6e046dd8ffa321040c1007b2020-11-25T03:53:16ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142020-10-011710.1177/1729881420940473Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicleWei ShangShichao HuXiao LiXikai TuA fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.https://doi.org/10.1177/1729881420940473
collection DOAJ
language English
format Article
sources DOAJ
author Wei Shang
Shichao Hu
Xiao Li
Xikai Tu
spellingShingle Wei Shang
Shichao Hu
Xiao Li
Xikai Tu
Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
International Journal of Advanced Robotic Systems
author_facet Wei Shang
Shichao Hu
Xiao Li
Xikai Tu
author_sort Wei Shang
title Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
title_short Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
title_full Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
title_fullStr Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
title_full_unstemmed Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
title_sort robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2020-10-01
description A fixed time robust control method is presented for trajectory tracking control of quadrotor systems with motor dynamics in the presence of unmodeled disturbances and external disturbances. The recommended control method avoids the negative effect to the quadrotor system caused by motor dynamic which is considered as first-order dynamic with dynamic disturbance. And fixed time extended state observer is adopted to estimate the composite disturbances and obtain the first and second derivative of desired trajectory and virtual control. Together with fixed time convergence control method, the stability and convergence characteristics of quadrotor system can be guaranteed. Finally, several simulations prove the effectiveness of the novel method with different time constants of motor dynamics.
url https://doi.org/10.1177/1729881420940473
work_keys_str_mv AT weishang robustfixedtimecontrollerwithmotordynamicsandcompositedisturbancesforaquadrotorunmannedaerialvehicle
AT shichaohu robustfixedtimecontrollerwithmotordynamicsandcompositedisturbancesforaquadrotorunmannedaerialvehicle
AT xiaoli robustfixedtimecontrollerwithmotordynamicsandcompositedisturbancesforaquadrotorunmannedaerialvehicle
AT xikaitu robustfixedtimecontrollerwithmotordynamicsandcompositedisturbancesforaquadrotorunmannedaerialvehicle
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