This paper presents a high-gain extended observer-based adaptive sliding mode scheme for a quadrotor rotorcraft influenced by turbulent wind gusts while performing a defined trajectory. The drag forces caused by the turbulent wind field are estimated through an extended state which collects all uncertainties and perturbations affecting the system. Such estimation is then compensated in the feedback control loop performed by a class of adaptive sliding mode control which provides properties such as robustness, non-overestimation of the control gain, and finite-time convergence. Computer simulation results corroborate the successful performance and feasibility of the proposed strategy even under output noise circumstances.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Turbulent Wind Gusts Estimation and Compensation via High-Gain Extended Observer-based Adaptive Sliding Mode for a Quadrotor UAV


    Beteiligte:


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    2583586 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Fixed-Time Extended Observer-Based Adaptive Sliding Mode Control for a Quadrotor UAV under Severe Turbulent Wind

    Armando Miranda-Moya / Herman Castañeda / Hesheng Wang | DOAJ | 2023

    Freier Zugriff


    Observer-based Second Order Sliding Mode Control for Tethered Quadrotor Transportation

    Gao, Jiale / Zhang, Fan / Huang, Panfeng et al. | IEEE | 2021


    Control of a Quadrotor Vehicle Using Sliding Mode Disturbance Observer

    Besnard, Lénaïck / Shtessel, Yuri / Landrum, Brian | AIAA | 2007