This paper designs a fixed time output feedback trajectory tracking control scheme for quadrotor Unmanned Aerial Vehicle with unmeasurable velocity and external disturbances. Firstly, a fixed time extend state observer (ESO) is devised to accurately observe the unknown velocity and estimate unknown total disturbances within a fixed time. Especially, the convergence time of system is independent of system initial states. Secondly, considering control accuracy and convergence rate, robust fixed time controllers are respectively designed for position and attitude system. Thirdly, the tracking errors of controller is capable of converging to zero according to homogeneous theory and Lyapunov theory, and superior results can be achieved under the proposed control scheme. Finally, simulations and comparison studies are verified to demonstrate the effectiveness of the designed fixed time output feedback control scheme.
LeeHKimHJ. Trajectory tracking control of multirotors from modelling to experiments: a survey. Int J Control Automation Syst2017; 15(1): 281–292.
2.
GreenDRHagonJJGómezC, et al.Using low-cost uavs for environmental monitoring, mapping, and modelling: examples from the coastal zone. Coastal Manag2019: 465–501.
3.
DingLZhengWXGuoG. Network-based practical set consensus for multi-agent systems subject to input saturation. Automatica2018; 89: 316–324.
4.
WangRLiuJK. Trajectory tracking control of a 6-dof quadrotor uav with input saturation via backstepping. J Franklin Inst2018; 355(7): 3288–3309.
5.
BishebanMLeeT. Geometric adaptive control for a quadrotor uav with wind disturbance rejection. IEEE Conf Decis Control2018: 2076–2081.
6.
JiaoXFidanBJiangJ, et al.Type-2 fuzzy adaptive sliding mode control of hypersonic flight. Proc Inst Mech Eng G: J Aerospace Eng2019; 233(8): 2731–2744.
7.
ZhaiJYXuG. A novel non-singular terminal sliding mode trajectory tracking control for robotic manipulators. IEEE Trans Circuits Syst Express Briefs2020; 99: 1.
8.
ZinoberASIEi-GhezawiOMEBillingsSA. Multivariable variable-structure adaptive model following control systems. IEE Proc D: Control Theor Appl2008; 1291: 6.
9.
FengYYuXHHanFL. On nonsingular terminal sliding-mode control of nonlinear systems. Automatic2013; 496: 1715–1722.
10.
CorlessMJLeitmannG. Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems. IEEE Trans Automatic Control2003; 265: 1139–1144.
11.
ChenCCQianCSunZY, et al.Global output feedback stabilization of a class of nonlinear systems with unknown measurement sensitivity. IEEE Trans Automatic Control2018; 63(7): 2212–2217.
XianBDiaoCZhaoB, et al.Nonlinear robust output feedback tracking control of a quadrotor uav using quaternion representation. Nonlinear Dyn2015; 79(4): 2735–2752.
14.
ZhaiJY. Dynamic output-feedback control for nonlinear time-delay systems and applications to chemical reactor systems. IEEE Trans Circuits Syst Express Briefs2019; 66(11): 1845–1849.
15.
AmrrSMNabiMTiwariPM. A fault-tolerant attitude tracking control of spacecraft using an anti-unwinding robust nonlinear disturbance observer. Proc Inst Mech Eng Part G: J Aerospace Eng2019; 233(16): 6005–6018.
16.
GuerreroJATorresJCreuzeV, et al.Adaptive disturbance observer for trajectory tracking control of underwater vehicles. Ocean Eng2020; 200: 107080.
17.
ZhangXJLiuMYLiY, et al.Impact angle control based on integral sliding mode manifold and extended state observer. Proc Inst Mech Eng Part G: J Aerospace Eng2019; 233(6): 2131–2140.
18.
MokhtariMBrahamACherkiB. Extended state observer based control for coaxial-rotor UAV. ISA Transactions2016; 61: 1–14.
19.
LiBQinKXiaoB, et al.Finite-time extended state observer based fault tolerant output feedback control for attitude stabilization. ISA Transactions2019; 91: 11–20.
20.
ZhengJQSongLLiuLY, et al.Fixed-time extended state observer-based trajectory tracking control for autonomous underwater vehicles. Asian J Control2021; 24: 686–701.
21.
GuoYSongSMLiXH, et al.Finite-time output feedback control for the attitude of the spacecraft without unwinding. Proc Inst Mech Eng Part G: J Aerospace Eng2018; 232(8): 1421–1433.
22.
SongZBZhaiJY. Global finite-time stabilization for switched stochastic nonlinear systems via output feedback. J Franklin Inst2019; 356(3): 1379–1395.
23.
AndrieuVPralyLAstolfiA. Homogeneous approximation, recursive observer design, and output feedback. Siam J Control Optimization2009; 47(4): 1814–1850.
24.
KanchanaharuthaiAMujjalinvimutE. Fixed-time command-filtered backstepping control design for hydraulic turbine regulating systems. Renewable Energy2021; 184: 1091–1103.
25.
GuoYMYanJGWuCH, et al.Modeling and practical fixed-time attitude tracking control of a paraglider recovery system. ISA Trans2021: 0019–0578.
26.
PolyakovA. Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans Automatic Control2012; 57(8): 2106–2110.
27.
BernuauEEfimovDPerruquettiW, et al.On homogeneity and its application in sliding mode control. J Franklin Inst2014; 351(4): 1866–1901.
28.
DuHBZhangJWuD, et al.Fixed-time attitude stabilization for a rigid spacecraft. ISA Transactions2020; 98: 263–270.
29.
TianBLLuHCZuoZY, et al.Multivariable finite-time output feedback trajectory tracking control of quadrotor helicopters. Int J Robust Nonlinear Control2018; 28(9): 281–295.
30.
HuaCCWangKChenJN, et al.Tracking differentiator and extended state observer-based nonsingular fast terminal sliding mode attitude control for a quadrotor. Nonlinear Dyn2018; 94(1): 343–354.
31.
LuKFXiaYQ. Adaptive attitude tracking control for rigid spacecraft with finite-time convergence. Automatica2013; 49(12): 3591–3599.
32.
LuKFXiaYQFuMY. Controller design for rigid spacecraft attitude tracking with actuator saturation. Inf Sci2013; 220: 343–366.
33.
ShtesselYBharath PanathulaCBasinM, et al.Multivariable continuous fixed-time second-order sliding mode control: design and convergence time estimation. IET Control Theor Appl2017; 11(8): 1104–1104.
34.
ZuoZY. Trajectory tracking control design with command-filtered compensation for a quadrotor. Control Theor Appl2010; 4(11): 2343–2355.
35.
BasinMYuPShtesselY. Finite- and fixed-time differentiators utilising HOSM techniques. IET Control Theor Appl2017; 11(8): 1144–1152.
36.
ZhangLWeiCZRongW, et al.Fixed-time extended state observer based non-singular fast terminal sliding mode control for a VTVL reusable launch vehicle. Aerospace Sci Technol2018; 82-83: 70–79.
