This article investigates a velocity-free antidisturbance control for quadrotors suffering from lumped disturbances by effectively integrating robust integral of the sign of the error (RISE) control with finite-time disturbance observer (FTDO). First, the cascade dynamics model is derived strictly for quadrotors with lumped disturbances consisting of parametric uncertainties and external disturbances. Then, unmeasured velocity and disturbances are estimated by FTDO in the position and attitude loops. Subsequently, residual estimation errors are further suppressed by the RISE feedback control method. Unlike a classical RISE control rule, the saturation function arctan(·) replaces the sign(·) function to obtain a smoother control signal to avoid chattering problems. The salient feature is that lumped disturbances can be comprehensively handled with two fundamentally different antidisturbance mechanisms simultaneously, the estimation performance limitation of FTDO can be significantly overcome and the high gain feedback used in RISE can be avoided. The stability of the closed-loop system and the asymptotical tracking of the desired trajectory are proved via the Lyapunov criterion. Finally, comparative simulations and platform experiments are conducted to demonstrate the effectiveness and robustness of the proposed control scheme.
Finite-Time Observer-Based Antidisturbance Control for Quadrotors Without Velocity Measurements
IEEE Transactions on Aerospace and Electronic Systems ; 61 , 2 ; 2120-2133
01.04.2025
8523329 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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