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Attitude tracking control of a quadrotor UAV subject to external disturbance with \(L_2\) performance

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Abstract

Attitude stability plays an important role in the safe flight of quadrotor unmanned aerial vehicle (UAV). This paper aims to address the problem of attitude control of quadrotor UAV. The mathematical model of quadrotor system subject to external disturbance is first introduced. Then, a finite-time disturbance observer (FTDO) is developed to effectively compensate for external disturbance. It is proved that the disturbance observation error can be guaranteed to converge to zero in finite time. Based on the designed FTDO, a backstepping sliding mode control technique is proposed to stabilize three attitude angles of a quadrotor UAV, which can eliminate the tracking errors of attitude channel to zero asymptotically. Moreover, by constructing an auxiliary equation, the bound of transient attitude tracking error in terms of \(L_2\) norm is derived. Finally, the comparative simulations are carried out to illustrate the effectiveness of the proposed control scheme and several statistical indexes are given to quantitatively evaluate the performance in terms of observation error, tracking error and control signal.

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Data availability

The datasets generated and/or analyzed during this study are available from the corresponding author on reasonable request.

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Funding

This work is supported in part by the National Natural Science Foundation of China (under Grant Nos. 51939001, 61976033); the Liaoning Revitalization Talents Program (under Grant No. XLYC1908018).

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  1. School of Automation Engineering, University of Electronic Science and Technology of China, Xiyuan Avenue, Chengdu, 611731, Sichuan, China

    Tianpeng Huang & Tieshan Li

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  1. Tianpeng Huang
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Correspondence to Tieshan Li.

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Huang, T., Li, T. Attitude tracking control of a quadrotor UAV subject to external disturbance with \(L_2\) performance. Nonlinear Dyn 111, 10183–10200 (2023). https://doi.org/10.1007/s11071-023-08374-1

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