Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter
This paper addresses the design and application controller for a small-size unmanned aerial vehicle. A new robust sliding mode controller (SMC) is proposed to improve the performance under internal model uncertainty and external disturbance conditions. To precisely control the attitude and position,...
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doaj-0a74241444c0445b9670439d7cb9a6122021-03-29T21:07:42ZengIEEEIEEE Access2169-35362018-01-016334803348810.1109/ACCESS.2018.28451348389215Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size HelicopterMiaolei He0https://orcid.org/0000-0003-4743-2663Jilin He1The State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaThe State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, ChinaThis paper addresses the design and application controller for a small-size unmanned aerial vehicle. A new robust sliding mode controller (SMC) is proposed to improve the performance under internal model uncertainty and external disturbance conditions. To precisely control the attitude and position, a new SMC based on the backstepping technique is formulated to guarantee the attitude system stability. To implement this controller, an extended state observer is used to estimate the unmeasurable states and external disturbances. Moreover, a new sliding mode control method with the backstepping technique is applied to ensure that the position system is stable. In addition, the Lyapunov theory demonstrates the stability of the attitude and position loops. Finally, the numerical experimental flight results are provided to illustrate the effectiveness and robustness of the proposed controller.https://ieeexplore.ieee.org/document/8389215/UAVbackstepping controlslide mode controlLyapunov theory |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Miaolei He Jilin He |
spellingShingle |
Miaolei He Jilin He Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter IEEE Access UAV backstepping control slide mode control Lyapunov theory |
author_facet |
Miaolei He Jilin He |
author_sort |
Miaolei He |
title |
Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter |
title_short |
Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter |
title_full |
Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter |
title_fullStr |
Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter |
title_full_unstemmed |
Extended State Observer-Based Robust Backstepping Sliding Mode Control for a Small-Size Helicopter |
title_sort |
extended state observer-based robust backstepping sliding mode control for a small-size helicopter |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2018-01-01 |
description |
This paper addresses the design and application controller for a small-size unmanned aerial vehicle. A new robust sliding mode controller (SMC) is proposed to improve the performance under internal model uncertainty and external disturbance conditions. To precisely control the attitude and position, a new SMC based on the backstepping technique is formulated to guarantee the attitude system stability. To implement this controller, an extended state observer is used to estimate the unmeasurable states and external disturbances. Moreover, a new sliding mode control method with the backstepping technique is applied to ensure that the position system is stable. In addition, the Lyapunov theory demonstrates the stability of the attitude and position loops. Finally, the numerical experimental flight results are provided to illustrate the effectiveness and robustness of the proposed controller. |
topic |
UAV backstepping control slide mode control Lyapunov theory |
url |
https://ieeexplore.ieee.org/document/8389215/ |
work_keys_str_mv |
AT miaoleihe extendedstateobserverbasedrobustbacksteppingslidingmodecontrolforasmallsizehelicopter AT jilinhe extendedstateobserverbasedrobustbacksteppingslidingmodecontrolforasmallsizehelicopter |
_version_ |
1724193478689161216 |