Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method

Jiaxiang Liu; Tao Song; Jianchuan Ye

doi:10.1007/978-981-19-6613-2_442

Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method

Jiaxiang Liu^*, Tao Song, Jianchuan Ye

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Aiming at the control of the attitude of quadrotor in strong interference environment, this paper proposes an outer loop ADRC, inner loop fast terminal sliding mode controller (FTSMC) based on ESO method two-stage cascade controller. This control strategy enables the quadrotor to estimate the disturbance effectively and eliminate the disturbance by feedback. The simulation shows that the cascade controller can markedly control the attitude of quadrotor. By contrast with separate ADRC, it improves the response speed and anti-interference performance of the whole controller.

Original language	English
Title of host publication	Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
Editors	Liang Yan, Haibin Duan, Yimin Deng, Liang Yan
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	4557-4567
Number of pages	11
ISBN (Print)	9789811966125
DOIs	https://doi.org/10.1007/978-981-19-6613-2_442
Publication status	Published - 2023
Event	International Conference on Guidance, Navigation and Control, ICGNC 2022 - Harbin, China Duration: 5 Aug 2022 → 7 Aug 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	845 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Guidance, Navigation and Control, ICGNC 2022
Country/Territory	China
City	Harbin
Period	5/08/22 → 7/08/22

Keywords

ADRC
ESO
FTSMC
Quadrotor

Access to Document

10.1007/978-981-19-6613-2_442

Cite this

Liu, J., Song, T., & Ye, J. (2023). Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method. In L. Yan, H. Duan, Y. Deng, & L. Yan (Eds.), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control (pp. 4557-4567). (Lecture Notes in Electrical Engineering; Vol. 845 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-6613-2_442

Liu, Jiaxiang ; Song, Tao ; Ye, Jianchuan. / Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method. Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. editor / Liang Yan ; Haibin Duan ; Yimin Deng ; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. pp. 4557-4567 (Lecture Notes in Electrical Engineering).

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title = "Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method",

abstract = "Aiming at the control of the attitude of quadrotor in strong interference environment, this paper proposes an outer loop ADRC, inner loop fast terminal sliding mode controller (FTSMC) based on ESO method two-stage cascade controller. This control strategy enables the quadrotor to estimate the disturbance effectively and eliminate the disturbance by feedback. The simulation shows that the cascade controller can markedly control the attitude of quadrotor. By contrast with separate ADRC, it improves the response speed and anti-interference performance of the whole controller.",

keywords = "ADRC, ESO, FTSMC, Quadrotor",

author = "Jiaxiang Liu and Tao Song and Jianchuan Ye",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",

year = "2023",

doi = "10.1007/978-981-19-6613-2_442",

language = "English",

isbn = "9789811966125",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "4557--4567",

editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",

booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",

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Liu, J, Song, T & Ye, J 2023, Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method. in L Yan, H Duan, Y Deng & L Yan (eds), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, vol. 845 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 4557-4567, International Conference on Guidance, Navigation and Control, ICGNC 2022, Harbin, China, 5/08/22. https://doi.org/10.1007/978-981-19-6613-2_442

Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method. / Liu, Jiaxiang; Song, Tao; Ye, Jianchuan.
Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. ed. / Liang Yan; Haibin Duan; Yimin Deng; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. p. 4557-4567 (Lecture Notes in Electrical Engineering; Vol. 845 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method

AU - Liu, Jiaxiang

AU - Song, Tao

AU - Ye, Jianchuan

PY - 2023

Y1 - 2023

N2 - Aiming at the control of the attitude of quadrotor in strong interference environment, this paper proposes an outer loop ADRC, inner loop fast terminal sliding mode controller (FTSMC) based on ESO method two-stage cascade controller. This control strategy enables the quadrotor to estimate the disturbance effectively and eliminate the disturbance by feedback. The simulation shows that the cascade controller can markedly control the attitude of quadrotor. By contrast with separate ADRC, it improves the response speed and anti-interference performance of the whole controller.

AB - Aiming at the control of the attitude of quadrotor in strong interference environment, this paper proposes an outer loop ADRC, inner loop fast terminal sliding mode controller (FTSMC) based on ESO method two-stage cascade controller. This control strategy enables the quadrotor to estimate the disturbance effectively and eliminate the disturbance by feedback. The simulation shows that the cascade controller can markedly control the attitude of quadrotor. By contrast with separate ADRC, it improves the response speed and anti-interference performance of the whole controller.

KW - ADRC

KW - ESO

KW - FTSMC

KW - Quadrotor

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U2 - 10.1007/978-981-19-6613-2_442

DO - 10.1007/978-981-19-6613-2_442

M3 - Conference contribution

AN - SCOPUS:85151138425

SN - 9789811966125

T3 - Lecture Notes in Electrical Engineering

SP - 4557

EP - 4567

BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control

A2 - Yan, Liang

A2 - Duan, Haibin

A2 - Deng, Yimin

A2 - Yan, Liang

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022

Y2 - 5 August 2022 through 7 August 2022

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Liu J, Song T, Ye J. Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method. In Yan L, Duan H, Deng Y, Yan L, editors, Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 4557-4567. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-6613-2_442

Fast Terminal Sliding Mode Attitude Control of Quadrotor Based on ADRC Method

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