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Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load
Open AccessArticle

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

by 1, 1,* and 2,3
1
School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China
2
School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
3
State Key Laboratory of Virtual Reality Technology and System, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Electronics 2018, 7(8), 128; https://doi.org/10.3390/electronics7080128
Received: 19 June 2018 / Revised: 9 July 2018 / Accepted: 24 July 2018 / Published: 26 July 2018
(This article belongs to the Special Issue Autonomous Control of Unmanned Aerial Vehicles)
This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults. View Full-Text
Keywords: quadrotor; super twisting extended state observer (STESO); super twisting sliding mode controller (STSMC); wind disturbance; actuator faults quadrotor; super twisting extended state observer (STESO); super twisting sliding mode controller (STSMC); wind disturbance; actuator faults
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MDPI and ACS Style

Shi, D.; Wu, Z.; Chou, W. Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults. Electronics 2018, 7, 128. https://doi.org/10.3390/electronics7080128

AMA Style

Shi D, Wu Z, Chou W. Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults. Electronics. 2018; 7(8):128. https://doi.org/10.3390/electronics7080128

Chicago/Turabian Style

Shi, Di; Wu, Zhong; Chou, Wusheng. 2018. "Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults" Electronics 7, no. 8: 128. https://doi.org/10.3390/electronics7080128

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