Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering

doi:10.16182/j.issn1004731x.joss.24-0583

Abstract

Abstract:

A finite-time fault-tolerant control scheme based on backstepping was proposed for the attitude tracking control problem of quadrotor UAVs. A finite-time neural network disturbance observer was designed, which could quickly compensate for the impacts of actuator failures and external disturbances, thereby enhancing the system's robustness. A first-order command filter and a compensation mechanism were introduced, which could avoid the computational complexity caused by differentiating the virtual control law and eliminate the influence of filtering errors. The hyperbolic tangent function was selected as the constraint function for the input torque, which restricted the input signal to prevent excessive magnitude and avoided the singularity problem in controller design. Numerical simulations and physical platform experiment results fully verified the effectiveness and feasibility of the proposed scheme.

Key words: disturbance observer, finite-time, neural network, command filtering, quadrotor UAV, fault-tolerant control

CLC Number:

TP273

Li Boning, Chen Ming, Qi Shuchang, Meng Haoran, Wang Lei. Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering[J]. Journal of System Simulation, 2025, 37(11): 2793-2803.

Figures/Tables 10

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