High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics
Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducin...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Zhao, Zhenhua [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2020 |
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| Schlagwörter: |
Nonsingular terminal sliding mode |
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| Anmerkung: |
© Springer Nature B.V. 2020 |
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| Übergeordnetes Werk: |
Enthalten in: Nonlinear dynamics - Springer Netherlands, 1990, 102(2020), 4 vom: 03. Nov., Seite 2583-2596 |
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| Übergeordnetes Werk: |
volume:102 ; year:2020 ; number:4 ; day:03 ; month:11 ; pages:2583-2596 |
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| DOI / URN: |
10.1007/s11071-020-06050-2 |
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OLC2122111666 |
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| 520 | |a Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. | ||
| 650 | 4 | |a Quadrotor UAV | |
| 650 | 4 | |a Sliding mode observer | |
| 650 | 4 | |a Nonsingular terminal sliding mode | |
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| 650 | 4 | |a Trajectory tracking | |
| 700 | 1 | |a Cao, Dong |4 aut | |
| 700 | 1 | |a Yang, Jun |4 aut | |
| 700 | 1 | |a Wang, Huiming |4 aut | |
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10.1007/s11071-020-06050-2 doi (DE-627)OLC2122111666 (DE-He213)s11071-020-06050-2-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Zhao, Zhenhua verfasserin aut High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics 2020 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Nature B.V. 2020 Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. Quadrotor UAV Sliding mode observer Nonsingular terminal sliding mode Disturbance observer-based control (DOBC) Trajectory tracking Cao, Dong aut Yang, Jun aut Wang, Huiming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 102(2020), 4 vom: 03. Nov., Seite 2583-2596 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:102 year:2020 number:4 day:03 month:11 pages:2583-2596 https://doi.org/10.1007/s11071-020-06050-2 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 102 2020 4 03 11 2583-2596 |
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10.1007/s11071-020-06050-2 doi (DE-627)OLC2122111666 (DE-He213)s11071-020-06050-2-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Zhao, Zhenhua verfasserin aut High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics 2020 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Nature B.V. 2020 Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. Quadrotor UAV Sliding mode observer Nonsingular terminal sliding mode Disturbance observer-based control (DOBC) Trajectory tracking Cao, Dong aut Yang, Jun aut Wang, Huiming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 102(2020), 4 vom: 03. Nov., Seite 2583-2596 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:102 year:2020 number:4 day:03 month:11 pages:2583-2596 https://doi.org/10.1007/s11071-020-06050-2 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 102 2020 4 03 11 2583-2596 |
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10.1007/s11071-020-06050-2 doi (DE-627)OLC2122111666 (DE-He213)s11071-020-06050-2-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Zhao, Zhenhua verfasserin aut High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics 2020 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Nature B.V. 2020 Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. Quadrotor UAV Sliding mode observer Nonsingular terminal sliding mode Disturbance observer-based control (DOBC) Trajectory tracking Cao, Dong aut Yang, Jun aut Wang, Huiming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 102(2020), 4 vom: 03. Nov., Seite 2583-2596 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:102 year:2020 number:4 day:03 month:11 pages:2583-2596 https://doi.org/10.1007/s11071-020-06050-2 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 102 2020 4 03 11 2583-2596 |
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10.1007/s11071-020-06050-2 doi (DE-627)OLC2122111666 (DE-He213)s11071-020-06050-2-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Zhao, Zhenhua verfasserin aut High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics 2020 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Nature B.V. 2020 Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. Quadrotor UAV Sliding mode observer Nonsingular terminal sliding mode Disturbance observer-based control (DOBC) Trajectory tracking Cao, Dong aut Yang, Jun aut Wang, Huiming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 102(2020), 4 vom: 03. Nov., Seite 2583-2596 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:102 year:2020 number:4 day:03 month:11 pages:2583-2596 https://doi.org/10.1007/s11071-020-06050-2 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 102 2020 4 03 11 2583-2596 |
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10.1007/s11071-020-06050-2 doi (DE-627)OLC2122111666 (DE-He213)s11071-020-06050-2-p DE-627 ger DE-627 rakwb eng 510 VZ 11 ssgn Zhao, Zhenhua verfasserin aut High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics 2020 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Nature B.V. 2020 Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. Quadrotor UAV Sliding mode observer Nonsingular terminal sliding mode Disturbance observer-based control (DOBC) Trajectory tracking Cao, Dong aut Yang, Jun aut Wang, Huiming aut Enthalten in Nonlinear dynamics Springer Netherlands, 1990 102(2020), 4 vom: 03. Nov., Seite 2583-2596 (DE-627)130936782 (DE-600)1058624-6 (DE-576)034188126 0924-090X nnns volume:102 year:2020 number:4 day:03 month:11 pages:2583-2596 https://doi.org/10.1007/s11071-020-06050-2 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-PHY SSG-OLC-CHE SSG-OLC-MAT SSG-OPC-MAT AR 102 2020 4 03 11 2583-2596 |
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High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics |
| abstract |
Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. © Springer Nature B.V. 2020 |
| abstractGer |
Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. © Springer Nature B.V. 2020 |
| abstract_unstemmed |
Abstract This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all, the trajectory tracking problem is divided into the commands tracking in position and attitude loops by introducing the virtual attitude angle commands. Secondly, the high-order sliding mode observers (HSMOs) are introduced to estimate the lumped disturbances in position loop and the derivatives of the attitude angle tracking errors, the lumped disturbances in the attitude loop. And then the composite nonlinear dynamical inversion controller in position loop and the composite nonsingular terminal sliding mode controller in attitude loop are constructed by introducing the estimation information of HSMOs into controller design process. Finally, the simulations based on the data of a practical UAV are carried out to verify the effectiveness of the proposed method. © Springer Nature B.V. 2020 |
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High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics |
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https://doi.org/10.1007/s11071-020-06050-2 |
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Cao, Dong Yang, Jun Wang, Huiming |
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