Thanh Ha Le Nhu Ngoc, Huynh Tuan Tu, Vu Mai The, Mung Nguyen Xuan, Phi Nguyen Ngoc, Hong Sung Kyung, Vu Truong Nguyen Luan
Department of Mechatronics Engineering, Ho Chi Minh City University of Technology and Education (HCMUTE), Ho Chi Minh City 71307, Vietnam.
Faculty of Mechatronics and Electronics, Lac Hong University, Bien Hoa 810000, Vietnam.
Sensors (Basel). 2022 Jul 6;22(14):5082. doi: 10.3390/s22145082.
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.
本文提出了一种基于非线性鲁棒反步算法和扩展状态/干扰观测器（ESDO）的四旋翼无人机（UAV）轨迹跟踪控制方法。为了实现鲁棒姿态稳定和三维位置跟踪控制的卓越性能，所提算法的构建可分为三个部分。首先，建立受外部干扰负面影响的无人机数学模型。其次，设计一个使用一般二阶模型的扩展状态/干扰观测器，以近似扰动对无人机动力学的不良影响。最后，通过将标称反步技术与ESDO相结合构建非线性鲁棒控制器，以提高姿态和位置控制模式的性能。在无需精确了解扰动上限条件的情况下，通过李雅普诺夫定理获得并保证了闭环干扰系统的鲁棒稳定性。最后，进行了数值仿真，并与其他先前的控制器进行比较，以证明所提控制方法的巨大优势和有效性。
