IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v10y2022i8p1346-d796459.html
   My bibliography  Save this article

Sliding Mode Controller Based on the Extended State Observer for Plant-Protection Quadrotor Unmanned Aerial Vehicles

Author

Listed:
  • Fengying Ma

    (School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China)

  • Zhe Yang

    (School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China)

  • Peng Ji

    (School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China)

Abstract

Owing to the complex dynamics of quadrotor unmanned aerial vehicles (UAVs) and their susceptibility to unknown interferences in an actual working environment, the flight control accuracy of UAVs is extremely high. Moreover, their anti-interference ability is particularly important. This study designed a sliding-mode controller based on the extended state observer. The position control was obtained through the outer-loop position controller. The attitude control was determined through the inner-loop attitude controller. The input of the UAV system was obtained through the controller. The boundary-layer function was used to weaken the oscillatory response of the system, and the traditional extended state observer was improved to improve the response speed, robustness, and tracking accuracy of the controller. For the entire process, the input and output state information of the system and total internal and external disturbances were estimated in real-time through the extended state observer. A sliding-mode control law was designed to compensate for the estimated disturbance in real-time to realize attitude control. Finally, Lyapunov theory was used to confirm the stability of the system. The simulation results demonstrated the improved anti-interference and tracking ability of the designed controller.

Suggested Citation

  • Fengying Ma & Zhe Yang & Peng Ji, 2022. "Sliding Mode Controller Based on the Extended State Observer for Plant-Protection Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 10(8), pages 1-17, April.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:8:p:1346-:d:796459
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/10/8/1346/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/10/8/1346/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Kaddouri Djamel & Mokhtari Abdellah & Abdelaziz Benallegue, 2016. "Attitude Optimal Backstepping Controller Based Quaternion for a UAV," Mathematical Problems in Engineering, Hindawi, vol. 2016, pages 1-11, March.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Nana Cheng & Chaoli Wang, 2023. "A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 11(4), pages 1-28, February.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.

      Corrections

      All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:10:y:2022:i:8:p:1346-:d:796459. See general information about how to correct material in RePEc.

      If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

      If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

      If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

      For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

      Please note that corrections may take a couple of weeks to filter through the various RePEc services.

      IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.