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Quadcopter UAVs Extended States/Disturbance Observer-Based Nonlinear Robust Backstepping Control
| Content Provider | MDPI |
|---|---|
| Author | Thanh, Ha Le Nhu Ngoc Huynh, Tuan Tu Mung, Nguyen Xuan Phi, Nguyen Ngoc Hong, Sung Kyung Vu, Truong Nguyen Luan |
| Copyright Year | 2022 |
| Description | A trajectory tracking control for quadcopter unmanned aerial vehicle (UAV) based on a nonlinear robust backstepping algorithm and extended state/disturbance observer (ESDO) is presented in this paper. To obtain robust attitude stabilization and superior performance of three-dimension position tracking control, the construction of the proposed algorithm can be separated into three parts. First, a mathematical model of UAV negatively influenced by exogenous disturbances is established. Following, an extended state/disturbance observer using a general second-order model is designed to approximate undesirable influences of perturbations on the UAVs dynamics. Finally, a nonlinear robust controller is constructed by an integration of the nominal backstepping technique with ESDO to enhance the performance of attitude and position control mode. Robust stability of the closed-loop disturbed system is obtained and guaranteed through the Lyapunov theorem without precise knowledge of the upper bound condition of perturbations. Lastly, a numerical simulation is carried out and compared with other previous controllers to demonstrate the great advantage and effectiveness of the proposed control method. |
| Starting Page | 5082 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s22145082 |
| Journal | Sensors |
| Issue Number | 14 |
| Volume Number | 22 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-07-06 |
| Access Restriction | Open |
| Subject Keyword | Sensors Industrial Engineering Trajectory Tracking Extended State Observer Disturbance Observer Backstepping Control Quadcopter Uav |
| Content Type | Text |
| Resource Type | Article |
