Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

Wenjing Cai; Jinhua She; Min Wu; Yasuhiro Ohyama

doi:10.1016/j.isatra.2019.02.028

Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

ISA Trans. 2019 Sep:92:286-297. doi: 10.1016/j.isatra.2019.02.028. Epub 2019 Feb 27.

Authors

Wenjing Cai¹, Jinhua She¹, Min Wu², Yasuhiro Ohyama³

Affiliations

¹ School of Automation, China University of Geosciences, Wuhan 430074, Hubei, China; Hubei Key Laboratory of Advanced Control and Intelligent, Automation for Complex Systems, Wuhan 430074, Hubei, China; School of Engineering, Tokyo University of Technology, Hachioji 192-0982, Tokyo, Japan.
² School of Automation, China University of Geosciences, Wuhan 430074, Hubei, China; Hubei Key Laboratory of Advanced Control and Intelligent, Automation for Complex Systems, Wuhan 430074, Hubei, China. Electronic address: wumin@cug.edu.cn.
³ School of Engineering, Tokyo University of Technology, Hachioji 192-0982, Tokyo, Japan.

PMID: 30851959
DOI: 10.1016/j.isatra.2019.02.028

Abstract

This paper presents a new control scheme for quadrotor unmanned aerial vehicle attitude control and disturbance suppression. A quadrotor dynamic model is divided into two subsystems: fully-actuated and under-actuated. While the PID method is used to control the fully-actuated subsystem, a sliding-mode-observer-based equivalent-input-disturbance approach is used to control the under-actuated subsystem. The system design is simple, and it is globally uniformly ultimately bounded. Simulations and comparisons demonstrate the effectiveness of the method.

Keywords: Disturbance suppression; Equivalent input disturbance; Globally uniformly ultimately bounded; Quadrotor unmanned aerial vehicle; Sliding-mode observer.