Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude | Journal of Intelligent & Robotic Systems Skip to main content
Springer Nature Link
Log in

Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

  • Short Paper
  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

A composite disturbance observer based control (CDOBC) technique for a quadrotor attitude is presented in this paper. The structure of CDOBC consists of a robust equivalent controller constructed using adaptive backstepping sliding mode control (ABSSMC), disturbance observer (DO) and an auxiliary gain to combine controller and NDO. In order to construct the DO, it is assumed that the quadrotor attitude model is effected by unknown bounded disturbances. During the development of DO, a state estimator is also constructed to avoid the situation of lack of states availability. Hence, invoking state estimator in estimation criteria followed by combining it with control scheme through an auxiliary gain yields the desired CDOBC based on ABSSMC. To analyze the dynamic and steady state performance of the developed control scheme, a stability proof followed by the simulation study is presented. In addition, before concluding the effectiveness of developed CDOBC, a comparative analysis is conducted by developing CDOBC based on backstepping and adaptive sliding mode control methods.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Ahmed, N., Chen, M.: Sliding mode control for quadrotor with disturbance observer. Adv. Mech. Eng. 10(7), 1687814018782330 (2018)

    Article  Google Scholar 

  2. Chen, W. -H., Ballance, D. J., Gawthrop, P. J., O’Reilly, J.: A nonlinear disturbance observer for robotic manipulators. IEEE Trans. Ind. Electronics 47(4), 932–938 (2000)

    Article  Google Scholar 

  3. Chen, W. -H.: Disturbance observer based control for nonlinear systems. IEEE/ASME Tran. Mechatronics 9(4), 706–710 (2004)

    Article  Google Scholar 

  4. Ahmed, N., Chen, M., Shao, S.: Disturbance observer based tracking control of quadrotor with high-order disturbances. IEEE Access 8, 8300–8313 (2020)

    Article  Google Scholar 

  5. Aboudonia, A., Rashad, R., El-Badawy, A.: Composite hierarchical anti-disturbance control of a quadrotor uav in the presence of matched and mismatched disturbances. J. Intell. Robot. Sys. 90(1-2), 201–216 (2018)

    Article  Google Scholar 

  6. Guo, L., Chen, W. -H.: Disturbance attenuation and rejection for systems with nonlinearity via dobc approach. Int. J. Robust Nonlinear Control: IFAC-Affiliated Journal 15(3), 109–125 (2005)

    Article  MathSciNet  Google Scholar 

  7. Kim, K.-S., Rew, K.-H., Kim, S.: Disturbance observer for estimating higher order disturbances in time series expansion. IEEE Trans. Automatic Control 55(8), 1905–1911 (2010)

    Article  MathSciNet  Google Scholar 

  8. Mohammadi, A., Tavakoli, M., Marquez, H. J., Hashemzadeh, F.: Nonlinear disturbance observer design for robotic manipulators. Control Eng. Practice 21(3), 253–267 (2013)

    Article  Google Scholar 

  9. Labbadi, M., Boukal, Y., Cherkaoui, M.: Path following control of quadrotor uav with continuous fractional-order super twisting sliding mode. J. Intell. Robot. Sys. 100(3), 1429–1451 (2020)

    Article  Google Scholar 

  10. Raza, A., Malik, F. M., Khan, R., Mazhar, N., Ullah, H.: Robust output feedback control of fixed-wing aircraft. Aircraft Engineering and Aerospace Technology (2020)

  11. Al-Mashhadani, M. A.: Optimal control and state estimation for unmanned aerial vehicle under random vibration and uncertainty. Measurement and Control 52(9-10), 1264–1271 (2019)

    Article  Google Scholar 

  12. Al-Mashhadani, M. A. R.: Optimal and pid controller for controlling camera’s position in unmanned aerial vehicles. International Journal of Information Technology, Modelling and Computing (IJITMC) 1, 4 (2013)

    Google Scholar 

  13. Ahmed, N., Raza, A., Khan, R.: Part 1: robust adaptive control of quadrotor with disturbance observer. Aircraft Engineering and Aerospace Technology (2021)

  14. Yang, Z., Meng, B., Sun, H.: A new kind of nonlinear disturbance observer for nonlinear systems with applications to cruise control of air-breathing hypersonic vehicles. Int. J. Control 90(9), 1935–1950 (2017)

    Article  MathSciNet  Google Scholar 

  15. Kaldmäe, A., Kotta, Ü.: Comments on ‘a new kind of nonlinear disturbance observer for nonlinear systems with applications to cruise control of air-breathing hypersonic vehicles’. Int. J. Control 93(7), 1725–1725 (2020)

    Article  MathSciNet  Google Scholar 

  16. Chaudhari, S. D., Shendge, P. D., Phadke, S. B.: Comment on ‘comments on “a new kind of nonlinear disturbance observer for nonlinear systems with applications to cruise control of air-breathing hypersonic vehicles”’. Int. J. Control 93(10), 2416–2417 (2020)

    Article  MathSciNet  Google Scholar 

  17. Atassi, A. N., Khalil, H. K.: A separation principle for the stabilization of a class of nonlinear systems. IEEE Trans. Automat. Contr. 44(9), 1672–1687 (1999)

    Article  MathSciNet  Google Scholar 

  18. Li, S., Yang, J., Chen, W.-H., Chen, X.: Disturbance observer-based control: methods and applications. CRC Press, Boca Raton (2014)

    Google Scholar 

  19. Khalil, H.K.: High-gain observers in nonlinear feedback control. SIAM (2017)

Download references

Funding

No funds, grants, or other supports was received.

Author information

Authors and Affiliations

  1. College of Automation, NUAA, Nanjing, China

    Nigar Ahmed

  2. College of Electrical and Mechanical Engineering, NUST, Islamabad, Pakistan

    Abid Raza & Rameez Khan

  3. School of Electrical Engineering, SEU, Nanjing, China

    Syed Awais Ali Shah

Authors
  1. Nigar Ahmed
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Abid Raza
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Syed Awais Ali Shah
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Rameez Khan
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

Nigar Ahmed developed the control algorithm based on the composite control design theory. Abid Raza validated the control design and performed stability analysis. Syed Awais Ali Shah conducted the simulation study and Rameez Khan made constructive comments on the control design by reviewing the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Nigar Ahmed.

Ethics declarations

Competing interests

The authors declare that they have no competing interests.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Appendix

Appendix

I: Although chattering reduction criteria has been presented in this research paper, however, significant chattering occurring in the control inputs have been noticed in the simulation study. The chattering phenomenon can lead to the wear and tear, or damage the actuator. Therefore, addressing the chattering in the controllers is an interesting research area. Two popular methods with the ability to solve the chattering includes neural networks control and asymptotic sliding mode control methods. By using the neural network techniques, instead of using the switching function, a neural network can be constructed to negate the use of switching function. And, in the method of asymptotic sliding mode control, the control input is treated as an additional state and then an auxiliary controller is designed to minimize the chattering effect.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ahmed, N., Raza, A., Shah, S.A.A. et al. Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude. J Intell Robot Syst 103, 11 (2021). https://doi.org/10.1007/s10846-021-01463-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-021-01463-6

Keywords

Search

Navigation