TY - GEN
T1 - Nonlinear disturbance rejection control for quadrotor attitude via finite-time state observer
AU - Guo, Qianchen
AU - Xia, Yuanqing
AU - Wang, Taiqi
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this article, to improve disturbance rejection characteristics and implement fast-tracking of angles, a nonlinear disturbance rejection control for quadrotor attitude via finite-time state observer is studied with an inner-outer loop control framework. In the inner loop system, a finite-time nonlinear disturbance observer (FTNDO) and a controller with robust control law are employed to estimate and compensate the disturbances, respectively. The finite-time technology is used to improve the convergence rate of the system. Additionally, a composite nonlinear feedback controller (CNFC) is devised for the outer loop to improve transient performance. The stability of both loops is analyzed individually, and the effectiveness of the proposed approach is verified through numerical simulations and platform experiments.
AB - In this article, to improve disturbance rejection characteristics and implement fast-tracking of angles, a nonlinear disturbance rejection control for quadrotor attitude via finite-time state observer is studied with an inner-outer loop control framework. In the inner loop system, a finite-time nonlinear disturbance observer (FTNDO) and a controller with robust control law are employed to estimate and compensate the disturbances, respectively. The finite-time technology is used to improve the convergence rate of the system. Additionally, a composite nonlinear feedback controller (CNFC) is devised for the outer loop to improve transient performance. The stability of both loops is analyzed individually, and the effectiveness of the proposed approach is verified through numerical simulations and platform experiments.
KW - composite nonlinear feedback controller
KW - finite-time nonlinear disturbance observer
KW - platform experiments
KW - quadrotor
UR - https://www.scopus.com/pages/publications/85200397822
U2 - 10.1109/CCDC62350.2024.10587890
DO - 10.1109/CCDC62350.2024.10587890
M3 - Conference contribution
AN - SCOPUS:85200397822
T3 - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
SP - 3547
EP - 3552
BT - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 36th Chinese Control and Decision Conference, CCDC 2024
Y2 - 25 May 2024 through 27 May 2024
ER -