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Nonlinear Disturbance Observer Based Sliding Mode Control of Quadrotor Helicopter

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Abstract

This paper develops tracking control of quadrotor unmanned air vehicle in the presence of parametric uncertainties and mismatched exogenous disturbances. First, a traditional sliding mode control (SMC) law is synthesized for a nominal model without parametric uncertainties and disturbances to achieve nominal control performance. Then to compensate the system uncertainties existing in the actual system, gain-scheduling based SMC law is synthesized. However, the gained scheduled SMC does not provide better control performance in the presence of unknown exogenous disturbances existing in actual system. To end this, a novel nonlinear disturbance observer is integrated with gain scheduled SMC to counteract the exogenous disturbances and attain the performance of reference nominal model. The proposed nonlinear disturbance observer SMC method exhibits the following two salient characteristics: first, the design gains should be greater than the bound of disturbance estimation error rather than that of disturbances, second; in the absence of uncertainties the nominal control performance of sliding mode control strategy is retained. The stability analysis of the proposed control strategy is validated using Lyapunov theorem. Finally, numerical simulation results are exhibited to illustrate the efficacy of the proposed control strategy.

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  1. School of Automation, Northwestern Polytechnical University, Xi’an, China

    Hamid Maqsood & Yaohong Qu

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  1. Hamid Maqsood
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  2. Yaohong Qu
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Correspondence to Yaohong Qu.

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Maqsood, H., Qu, Y. Nonlinear Disturbance Observer Based Sliding Mode Control of Quadrotor Helicopter. J. Electr. Eng. Technol. 15, 1453–1461 (2020). https://doi.org/10.1007/s42835-020-00421-w

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  • DOI: https://doi.org/10.1007/s42835-020-00421-w

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