Fixed-time extended disturbance observer-based switching control of quadrotor UAV under marine wind condition

被引：2
|
作者：
Zhang, Qiyao [1 ]
Wang, Tianzhen [1 ]
Zhu, Xiaoyuan [2 ]
机构：
[1] Shanghai Maritime Univ, Sch Logist Engn, Shanghai 201306, Peoples R China
[2] Southeast Univ, Sch Mech Engn, Nanjing 211189, Peoples R China
来源：
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL | 2024年 / 12卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Quadrotor UAV; Switching control; Fixed-time extended disturbance observer; Active disturbance rejection control; Marine wind condition; TRACKING CONTROL; ATTITUDE-CONTROL; HELICOPTER;
D O I：
10.1007/s40435-023-01295-2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an observer-based switching control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) against complex and variable marine wind. Firstly, dynamics model of quadrotor UAV along with marine wind field model is established. A fixed-time extended disturbance observer (FTEDO) is then developed to improve performance of active disturbance rejection control (ADRC) against strong wind disturbance, which is also further utilized to realize wind speed estimation simultaneously. Based on the estimated wind speed, switching mechanism is constructed for quadrotor UAV to select appropriate controller between traditional PID and FTEDO-based ADRC. Finally, effectiveness as well as performance of the proposed switching control strategy is verified by using comparative simulation tests.
引用
收藏
页码：1491 / 1501
页数：11
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