Model-assisted extended state observer and dynamic surface control–based trajectory tracking for quadrotors via output-feedback mechanism
Corresponding Author
Xingling Shao
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Correspondence
Xingling Shao, Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education; National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China.
Email: [email protected]
Search for more papers by this authorNing Liu
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Search for more papers by this authorJun Liu
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Search for more papers by this authorHonglun Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorCorresponding Author
Xingling Shao
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Correspondence
Xingling Shao, Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education; National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China.
Email: [email protected]
Search for more papers by this authorNing Liu
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Search for more papers by this authorJun Liu
Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan, China
National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan, China
Search for more papers by this authorHonglun Wang
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorSummary
In this paper, an output-feedback trajectory tracking controller for quadrotors is presented by integrating a model-assisted extended state observer (ESO) with dynamic surface control. The quadrotor dynamics are described by translational and rotational loops with lumped disturbances to promote the hierarchical control design. Then, by exploiting the structural property of the quadrotor, a model information–assisted high-order ESO that relies only on position measurements is designed to estimate not only the unmeasurable states but also the lumped disturbances in the rotational loop. In addition, to account for the problem of “explosion of complexity” inherent in hierarchical control, the output feedback–based trajectory tracking and attitude stabilization laws are respectively synthesized by utilizing dynamic surface control and the corresponding estimated signals provided by the ESO. The stability analysis is given, showing that the output-feedback trajectory tracking controller can ensure the ultimate boundedness of all signals in the closed-loop system and make the tracking errors arbitrarily small. Finally, flight simulations with respect to an 8-shaped trajectory command are performed to verify the effectiveness of the proposed scheme in obtaining the stable and accurate trajectory tracking using position measurements only.
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