Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor
Fuente:
arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866910583915282432 |
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| author | Xu, Liwen Tian, Bailing Wang, Cong Lu, Junjie Wang, Dandan Li, Zhiyu Zong, Qun |
| author_facet | Xu, Liwen Tian, Bailing Wang, Cong Lu, Junjie Wang, Dandan Li, Zhiyu Zong, Qun |
| contents | In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is proposed to estimate the lumped disturbances. The bi-limit homogeneity and Lyapunov techniques are employed to ensure the convergence of estimation error within a fixed convergence time, independent of the initial estimation error. Then, an observerbased model predictive control strategy is formulated to achieve robust trajectory tracking of quadrotor, attenuating the lumped disturbances and model uncertainties. Finally, simulations and real-world experiments are provided to illustrate the effectiveness of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_15019 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor Xu, Liwen Tian, Bailing Wang, Cong Lu, Junjie Wang, Dandan Li, Zhiyu Zong, Qun Systems and Control In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is proposed to estimate the lumped disturbances. The bi-limit homogeneity and Lyapunov techniques are employed to ensure the convergence of estimation error within a fixed convergence time, independent of the initial estimation error. Then, an observerbased model predictive control strategy is formulated to achieve robust trajectory tracking of quadrotor, attenuating the lumped disturbances and model uncertainties. Finally, simulations and real-world experiments are provided to illustrate the effectiveness of the proposed method. |
| title | Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2408.15019 |