In this work, we introduce a hierarchical controller that combines a finite-time extended state observer (FTESO) with a smooth sliding mode control This controller is designed to enable autonomous VTOL to accurately track trajectories even when faced with unknown aerodynamic disturbances. At the outset, the hierarchical control approach is employed to partition the flight control task into two distinct loops: the upper loop, which governs the management of the vehicle’s attitude, and the lower loop, focused on controlling the thrust force applied to the vehicle. Subsequently, a finite-time extended state observer is engineered to provide real-time estimations of unknown uncertainties and disturbances, with the capability to actively counteract and compensate for them within a finite time. Furthermore, a smooth sliding mode controller is developed and integrated with the finite time observer to guarantee the stability of the closed-loop control system. Finally, numerical simulation results are presented to illustrate the performances of the proposed observer-controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Finite-time extended state observer based sliding mode control for a VTOL multi-rotors UAV


    Contributors:


    Publication date :

    2023-11-02


    Size :

    1610818 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Finite-time convergent sliding-mode guidance law based on Extended-State-Observer

    Zhang, Denghui / Chao, Tao / Wang, Songyan et al. | IEEE | 2016


    On a Novel Sliding Mode Extended State Observer with Finite-time Convergence

    Huang, G.-y. / Jiang, C.-s. / Wang, Y.-h. et al. | British Library Online Contents | 2008


    Extended Sliding Mode Control Scheme for a VTOL UAV with Time-Varying Disturbances

    Imran, Imil H. / Memom, Azhar M. / Kurtulus, Dilek F. et al. | AIAA | 2023