2022 2nd Asia-Pacific Conference on Communications Technology and Computer Science (ACCTCS)

'HVLJQRIELSRZHUUHDFKLQJODZVOLGLQJPRGH
Design ofbi-power reaching law sliding mode
FRQWUROOHUEDVHGRQH[SRQHQWLDOREVHUYHU
controller based on exponential observer
2022 2nd Asia-Pacific Conference on Communications Technology and Computer Science (ACCTCS) | 978-1-6654-0034-3/22/$31.00 ©2022 IEEE | DOI: 10.1109/ACCTCS53867.2022.00022

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Abstract—Considering
Abstract- Considering the
the complex
complex nonlinear
nonlinear H[WHUQDO
external LQWHUIHUHQFH
interference LQin 8$9
UAV QDYLJDWLRQ
navigation FRQWURO
control. 7KH
The
characteristics
characteristics of
of the
the quadrotor
quadrotor system,
system, such
such as
as SUREOHPV
problems RIof SDUDPHWHU
parameter XQFHUWDLQW\
uncertainty DQG
and H[WHUQDO
external GLVWXUEDQFH
disturbance
underactuation,
underactuation, strong coupling
strong coupling and
and susceptibility
susceptibility to
to UREXVWQHVV
robustness DUHare VROYHG
solved E\by WKH
the SURSRVHG
proposed FRQWUROOHU
controller. 7KH
The
disturbance,
disturbance, the the disturbance
disturbance in in real
real time
time can
can bebe estimated
estimated by WUDMHFWRU\
by trajectory WUDFNLQJ
tracking LVis DOVR
also PDLQWDLQHG
maintained VWDEO\
stably GXH
due WR
to WKH
the
the
the exponential
exponential convergent
convergent disturbance
disturbance observer.
observer. Using
Using the
the FRQWUROOHU,QRUGHUWRUHDOL]HWKHWUDMHFWRU\WUDFNLQJRI8$9
controller. In order to realize the trajectory tracking of UAV
disturbance is
disturbance is input
input compensation. The
compensation. The exponentially
exponentially PRUHHIIHFWLYHO\>@VKRZHGWKDWWKHVWHDG\VWDWHFRQWURORI
convergent more effectively, [4] showed that the steady state control of
convergent disturbance
disturbance observer
observer is is used
used toto resist
resist unknown TXDGURWRU
quadrotor 8$9
UAV WUDMHFWRU\
trajectory WUDFNLQJ
tracking FDQ
can EH
be DFKLHYHG
achieved E\
by D
unknown
disturbances. a
disturbances. In In this
this paper,
paper, a a double
double power
power reaching
reaching law
law EDFNVWHSPHWKRGDQGGXDOORRSFDVFDGHFRQWUROPHWKRG
sliding backstep method and dual-loop cascade control method.
sliding mode
mode controller
controller based
based onon the
the exponential
exponential observer
observer (EO-
(EO­
DSMC)
DSMC) is is proposed
proposed by by combining
combining the the exponential
exponential observer
observer ,Q
In YLHZ
view RI
of WKH
the FRPSOH[
complex QRQOLQHDU
nonlinear FKDUDFWHULVWLFV
characteristics RIof WKH
the
and
and the
the double
double powerpower reaching
reaching raterate sliding
sliding mode
mode control
control TXDGURWRU
quadrotor V\VWHP
system, VXFK
such DVas XQGHUDFWXDWLRQ
underactuation, VWURQJ
strong FRXSOLQJ
coupling
method,
method, itit is
is applied
applied to to the
the attitude
attitude subsystem
subsystem of of the
the quadrotor
quadrotor DQGVXVFHSWLELOLW\WRGLVWXUEDQFHWKHXQNQRZQGLVWXUEDQFHLV
and susceptibility to disturbance, the unknown disturbance is
unmanned
unmanned aerialaerial vehicle
vehicle (UAV).
(UAV). Lyapunov
Lyapunov theory
theory isis used
used to UHJDUGHG
to regarded DV as D
a WRWDO
total GLVWXUEDQFH
disturbance. 7KHThe FRQWUROOHU
controller GHVLJQ
design LVis
prove
prove thethe stability
stability of of the
the system.
system. Comparisons
Comparisons of of the >@
simulation
the
based on the traditional sliding mode control[5l,WKHFKDWWHULQJ
EDVHGRQWKHWUDGLWLRQDOVOLGLQJPRGHFRQWURO the chattering
simulation of of the
the single-machine
single-machine flight between before
before and SUREOHP
after
flight between and
problem RI of WKH
the VOLGLQJ
sliding PRGH
mode QHHGV
needs WRto EH
be FRQVLGHUHG
considered. 7KHThe
after adding
adding the the controller
controller revealed
revealed that that the
the designed FRQWUROOHU
controller GHVLJQHG
designed LQ in WKLV
this SDSHU
paper KDV
has QRW
not EHHQ
been UHSRUWHG
reported \HW
designed
controller yet.
controller isis used
used toto control
control UAV
UAV attitude
attitude better
better and
and enhanced
enhanced 7KLV
system This SDSHU
paper SXWV
puts IRUZDUG
forward WKHthe DWWLWXGH
attitude VXEV\VWHP
subsystem FRQWUROOHU
controller
system stability
stability andand anti-interference.
anti-interference.
DSSOLHGWRWKH
applied to the DWWLWXGH
attitude VXEV\VWHP
subsystem RI of TXDGURWRU
quadrotor 8$9
UAV IRUfor WKH
the
Keywords—Exponential observer, Double power DWWLWXGHVXEV\VWHPZLWKXQNQRZQLQWHUIHUHQFH$WZRSRZHU
attitude subsystem with unknown interference. A two-power
Keywords-Exponential observer, Double power reaching
reaching
law, Attitude subsystem, Lyapunov theory UHDFKLQJ
reaching ODZ law VOLGLQJ
sliding PRGH
mode FRQWUROOHU
controller EDVHG
based RQ on WKH
the
law, Attitude subsystem, Lyapunov theory
H[SRQHQWLDO
exponential observer (EO-DSMC) was designed E\
REVHUYHU (2'60&  ZDV GHVLJQHG by
FRPELQLQJ
combining WKH the H[SRQHQWLDO
exponential REVHUYHU
observer DQGand WKH
the GRXEOHSRZHU
double-power
,
I. ,INTRODUCTION
1752'8&7,21
UHDFKLQJ
reaching UDWH
rate VOLGLQJ
sliding PRGH
mode FRQWURO
control PHWKRG>@
method[6]. 7KH The JLYHQ
given
,Q
In UHFHQW
recent \HDUV
years, ZLWK
with WKHthe UDSLG
rapid HPHUJHQFH
emergence RI of 8$9V
UAVs, H[SHFWHGDWWLWXGHDQJOHVDUHLQSXWLQWRWKHGHVLJQHGFRQWUROOHU
expected attitude angles are input into the designed controller
ILQGLQJV
findings KDYH
have JUHDWO\
greatly LQFUHDVHG
increased. 8$9
UAV GR do QRW
not QHHG
need WRto (2'60&  WKH
(EO-DSMC), the LQWHUIHUHQFH
interference VLJQDOV
signals REVHUYHG
observed E\ by
FRQVLGHU
consider WKHthe SK\VLFDO
physical OLPLWV
limits RIof WKHLU
their IOLJKW
flight. 0RUH
More LQWHQVH
intense H[SRQHQWLDO
exponential REVHUYHU
observer DUH are SXW
put LQ
in DWWLWXGH
attitude VXEV\VWHP
subsystem IRU for
PDQHXYHUVFDQEHXVHGIRU8$9+RZHYHUDVPDQHXYHULQJ
maneuvers can be used for UAV. However, as maneuvering FRPSHQVDWLRQ
compensation DGMXVWPHQW
adjustment. 7KHQ
Then, WKHthe QHZ
new DWWLWXGH
attitude DQJOH
angle
PRYHPHQW
movement LV is RIWHQ
often DFFRPSDQLHG
accompanied E\ by ODUJH
large DQJOH
angle FKDQJHV>@
changes[ l], VLJQDOV
signals DUH
are REWDLQHG
obtained LQ in DWWLWXGH
attitude VXEV\VWHP
subsystem DQGand SXW
put LQWR
into WKH
the
1RQOLQHDULW\ DQG
Nonlinearity and FRXSOLQJ
coupling DUH are FRQVLGHUHG
considered DVas WKH
the G\QDPLF
dynamic GHVLJQHG
designed FRQWUROOHU
controller. )LQDOO\
Finally, WKH
the FORVHGORRS
closed-loop FRQWURO
control LVis
FKDUDFWHULVWLFV
characteristics RI of 8$9
UAV. 7KH The FKDUDFWHULVWLFV
characteristics RI
of 8$9
UAV DUH
are RI
of IRUPHG
formed DQGand WKH
the UHDOWLPH
real-time XSGDWH
update LVis LPSOHPHQWHG
implemented. ,Q In WKLV
this
JUHDW
great VLJQLILFDQFH
significance WRto WKH
the UHVHDUFK
research RIof 8$9
UAV. $ A VOLGLQJ
sliding PRGH
mode FRQWUROOHU
controller, WKH
the H[SRQHQWLDO
exponential REVHUYHU
observer LV is XVHG
used WRto VROYH
solve WKH
the
FRQWUROPHWKRGEDVHGRQGRXEOHFORVHGORRSFRQWUROVWUDWHJ\
control method based on double closed-loop control strategy XQNQRZQ
unknown GLVWXUEDQFH
disturbance RI of WKH
the DWWLWXGH
attitude VXEV\VWHP
subsystem, WKH the GRXEOH
double
LV
is SURSRVHG
proposed WR to GHDO
deal ZLWK
with WKH
the WUDMHFWRU\
trajectory WUDFNLQJ
tracking SUREOHP
problem RI of SRZHUUHDFKLQJUDWHLVXVHGWRUHGXFHFKDWWHULQJ
power reaching rate is used to reduce chattering.
TXDGURWRU
quadrotor 8$9 UAV DIIHFWHG
affected E\ by H[WHUQDO
external GLVWXUEDQFH
disturbance LQin >@
[ 2].
'LVWXUEDQFHREVHUYHUDQGQRQVLQJXODUWHUPLQDOVOLGLQJPRGH 7KHUH
There DUH
are IRXU
four VHFWLRQV
sections LQ
in WKLV
this SDSHU
paper. ,Q
In 6HFWLRQ
Section ,,
II, WKLV
this
Disturbance observer and non-singular terminal sliding mode VHFWLRQ
FRQWURODUHDSSOLHGWRWKHLQQHUULQJLQWHJUDOWHUPLQDOVOLGLQJ section JLYHV
gives D
a EULHI
brief RYHUYLHZ
overview RIof WKH
the IRXUURWRU
four-rotor PRGHO
model ZLWK
with
control are applied to the inner ring, integral terminal sliding GLVWXUEDQFH
PRGHPHWKRGLVXVHGWRWKHRXWHUULQJ7KHDWWLWXGHVWDELOLW\ disturbance. ,Q
In 6HFWLRQ
Section ,,,
III, WKH
the DQDO\VLV
analysis ZLOO
will KLJKOLJKW
highlight WKH
the
mode method is used to the outer ring. The attitude stability GHVLJQ
DQGWUDFNLQJDFFXUDF\RI8$9DUHDFKLHYHGE\WKHLQQHUDQG design RI
of GRXEOH
double SRZHU
power UHDFKLQJ
reaching UDWH
rate VOLGLQJ
sliding UDWH
rate VOLGLQJ
sliding
and tracking accuracy of UAV are achieved by the inner and PRGH
RXWHU
outer ULQJV
rings. ,Q
In >@
[3], DQ
an LPSURYHG
improved DGDSWLYH
adaptive VOLGLQJ
sliding PRGH
mode mode FRQWUROOHU
controller EDVHG
based RQ
on H[SRQHQWLDO
exponential REVHUYHU
observer. ,Q
In 6HFWLRQ
Section
FRQWURO ,9WKHSDUWVZLOODQDO\]HWKHUHVXOWVRIVLPXODWLRQV)LQDOO\
IV, the parts will analyze the results of simulations. Finally,
control LVis GHVLJQHG
designed WRto VROYH
solve WKH
the SUREOHP
problem RI
of XQFHUWDLQW\
uncertainty DQG
and 6HFWLRQ9LVGHYRWHGWRWKHILQDOFRQFOXVLRQV
Section V is devoted to the fmal conclusions.

978-1-6654-0034-3/22/$31.00
978-1-6654-0034-3/22/$31.00 ©2022
©2022 IEEE
IEEE 71
71
DOI
DOl 10.1109/ACCTCS53867.2022.00022
10.1109 /ACCTCS53867.2022.00022

Authorized licensed use limited to: Walchand College of Eng. Downloaded on January 09,2023 at 12:14:03 UTC from IEEE Xplore. Restrictions apply.
 II.(ESTABLISHMENT
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OF A FOUR-ROTOR
67$%/,6+0(172)$)285 MODEL Willi III.'DESIGN
,,, OF DOUBLE POWER REACHING RATE SLIDING
(6,*12)'28%/(32:(55($&+,1*5$7(6/,',1*
DISTURBANCE
',6785%$1&( RATE SLIDING MODE CONTROLLER BASED ON EXPONENTIAL
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OBSERVER
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Quadrotor 8$9
4XDGURWRU UAV LV isDaNLQG
kindRIofURWRU
rotor 8$9
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used IRU
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hovering DQGand YHUWLFDO
vertical WDNHRII
takeoff DQG
and ODQGLQJ
landing. 6PDOO
Small The XQNQRZQ
7KH unknown GLVWXUEDQFHV
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regarded DVas WKH
the
size, ORZ
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price DQG
and HDV\
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operation DUH
are DOO
all UHJDUGHG
regarded DV as WKH
the disturbances WKDW
GLVWXUEDQFHV that FDQ
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be REVHUYHG
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the H[SRQHQWLDO
exponential
characteristics RI
FKDUDFWHULVWLFV of WKH
the TXDGURWRU
quadrotor 8$9UAV. 0XOWLLQSXW
Multi-input, PXOWL
multi­ converging GLVWXUEDQFH
FRQYHUJLQJ disturbance REVHUYHU
observer[9]
>@ Then, WKH
 7KHQ the WRWDO
total
output, strong coupling and underdrive are considered to be
RXWSXWVWURQJFRXSOLQJDQGXQGHUGULYHDUHFRQVLGHUHGWREH disturbance LV
GLVWXUEDQFH is GHVLJQHG
designed WRto EH
be REVHUYHG
observed E\by WKH
the H[SRQHQWLDO
exponential
theFKDUDFWHULVWLFV
WKH characteristics RI ofWKH
the G\QDPLFV
dynamicsPRGHOmodel RI of WKH
the TXDGURWRU
quadrotor observer, WKH
REVHUYHU the GLVWXUEDQFHV
disturbances REVHUYHG
observed E\by WKH
the REVHUYHU
observer DUH
are
>@>@
UAy[7J[S] For WKH
the FRPSOH[
complex QRQOLQHDU
nonlinear FKDUDFWHULVWLFV
characteristics RI of WKH
the
8$9  )RU compensated LQ
FRPSHQVDWHG in WKH
the VOLGLQJ
sliding PRGH
mode FRQWURO
control. 'XH
Due WR
to WKH
the
quadrotor V\VWHP
TXDGURWRU system, H[SRQHQWLDO
exponential FRQYHUJHQW
convergent GLVWXUEDQFH
disturbance chattering defects of the sliding mode control, the chattering
FKDWWHULQJGHIHFWVRIWKHVOLGLQJPRGHFRQWUROWKHFKDWWHULQJ
observer LV
REVHUYHU is FRQVLGHUHG
considered WR to HVWLPDWH
estimate WKH
the GLVWXUEDQFH
disturbance LQ in UHDO
real is UHGXFHG
LV reduced E\
by FRQVLGHULQJ
considering WKHthe GRXEOHSRZHU
double-power UHDFKLQJ
reaching ODZ
law.
time. DW
WLPH at WKH
the VDPH
same WLPH
time, GLVWXUEDQFH
disturbance LV is UHJDUGHG
regarded DV as LQSXW
input When GHVLJQLQJ
:KHQ designing WKH the VOLGLQJ
sliding PRGH
mode FRQWUROOHU
controller, WKH
the GRXEOH
double
compensation. 6R
FRPSHQVDWLRQ SoWKH
theH[SRQHQWLDO
exponentialREVHUYHU
observerLV isFRQVLGHUHG
consideredWR to power UHDFKLQJ
SRZHU reaching ODZ law VOLGLQJ
sliding PRGH
mode FRQWUROOHU
controller EDVHG
based RQ
on
have the ability to resist unknown disturbance. The unknown
KDYHWKHDELOLW\WRUHVLVWXQNQRZQGLVWXUEDQFH7KHXQNQRZQ exponential REVHUYHU
H[SRQHQWLDO observer LV is GHVLJQHG
designed E\by FRPELQLQJ
combining REVHUYHU
observer
disturbance of the attitude subsystem is added to the attitude
GLVWXUEDQFHRIWKHDWWLWXGHVXEV\VWHPLVDGGHGWRWKHDWWLWXGH interference and double power reaching rate.
LQWHUIHUHQFHDQGGRXEOHSRZHUUHDFKLQJUDWH
subsystem DV
VXEV\VWHP as WRWDO disturbancedd;
total GLVWXUEDQFH i i
(i =1,2,3)
 . $IWHU
After DGGLQJ
adding
Taking SLWFK angle T()DV
pitch DQJOH as DQ
an H[DPSOH
example, WKH
the GHVLJQHG
designed
7DNLQJ
the total disturbance, the attitude subsystem is.
WKHWRWDOGLVWXUEDQFHWKHDWWLWXGHVXEV\VWHPLV exponential observer is:
H[SRQHQWLDOREVHUYHULV


­T
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u  lK T  I x  d
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 nT
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Where, Pf.1LV
:KHUH is WKH
the DX[LOLDU\
auxiliary SDUDPHWHU
paran1eter YHFWRU
vector GHILQHG
defmed LQ
in
:KHUH and I¢ UHVSHFWLYHO\
Where, T(), \lj/DQG respectively UHSUHVHQW
represent WKH
the UROO
Rroll observer; PitLV
the REVHUYHU
WKH is WKH
the ILUVW
first GHULYDWLYH
derivative, ZKLFK
whichVKRXOG
should PHHW
meet
angle,
J  Spitch angle and yaw angle of KHTXDGURW
FKDQJOHDQG UAV; T(),
the quadrotor8$9
DQJOHSLWFKDQJOHDQG\DZDQJOHRIWKHTXDGURWRU8$9  the
WKH following
IROORZLQJ
IROORZLQJ requirements:
UHTXLUHPHQWV
UHTXLUHPHQW
and I¢ DUH
\IfDQG are WKH
the ILUVW derivative; Te'\ifDQG
first GHULYDWLYH and IifjDUH
are WKH
the n (lK
Pit=n lK/JII"-u2 )-n (J.L+nnB
T  I x  u  n P  T )  nn LV
LV1s WK
the
KH
WKH
derivative; uu2,
secondGHULYDWLYH
VHFRQG u , u4 represent the virtual control
  u 3 u UHSUHVHQW WKH YLUWXDO FRQWURO coefficient RI
of WKH
the DX[LOLDU\
auxiliary SDUDPHWHU vector; dd1
paran1eter YHFWRU is the
FRHIILFLHQW  LV WKH
LQSXW K;(i
input; K i i 4,5,6)
 UHSUHVHQWV
= represents WKH
the UHVLVWDQFH
resistance FRHIILFLHQW
coefficient; interference estimate corresponding to the roll angle.
LQWHUIHUHQFHHVWLPDWHFRUUHVSRQGLQJWRWKHUROODQJOH
llLVWKHGLVWDQFHEHWZHHQWKHURWRUFHQWHUDQGWKHJHRPHWULF
is the distance between the rotor center and the geometric The GLVWXUEDQFH
7KH disturbance REVHUYHG
observed E\by WKH
the DERYH
above REVHUYHU
observer LV
is
center RI
FHQWHU of WKH body; IIx x,
the ERG\  IIy Y,IIz respectively represent the
z UHVSHFWLYHO\ UHSUHVHQW WKH
compensatedLQ
FRPSHQVDWHG inWKH
theVOLGLQJ
slidingPRGH
modeFRQWURO
control,
FRQWURO the VOLGLQJ
WKH
 WKH VslidingPRGH
mode

Te 
moment of inertia of the three axes.
PRPHQWRILQHUWLDRIWKHWKUHHD[HV surface LV
VXUIDFH is GHVLJQHG as ss cc1
designed DV = ()e +Tee ' and c1 > 0 ; the roll
e  DQG c !   WKH UROO

e  DQG T e T()d
d  T  WKH ILUVW GHULYDWLYH LV
For the position subsystem, the traditional sliding mode
)RUWKHSRVLWLRQVXEV\VWHPWKHWUDGLWLRQDOVOLGLQJPRGH angle
DQJOH
J HUURU isT()e
error LV , and ()e = - (), the first derivative is
is used to design the sliding mode surface. As a case
VHLQinSRLQW
point,
LVXVHGWRGHVLJQWKHVOLGLQJPRGHVXUIDFH$VDFDVHLQSRLQW
Tee
e  T d LQGLFDWHVWKHH[SHFWHGUROODQJOHYDOXH
' ()d indicates the expected roll angle value.
is WDNHQ
LV taken WKH
the VOLGLQJ
sliding PRGH function ss1
mode IXQFWLRQ 
=cc1 xe+xxe'
 xe 
where
e  ZKHUH
Because of the chattering defect of sliding mode control,
%HFDXVHRIWKHFKDWWHULQJGHIHFWRIVOLGLQJPRGHFRQWURO
cC1 !>0,xXe e =xX-xXdd  ([SRQHQWLDO
Exponential UHDFKLQJ
reaching UDWH
rate
the double power reaching rate is considered in the design of
WKHGRXEOHSRZHUUHDFKLQJUDWHLVFRQVLGHUHGLQWKHGHVLJQRI
s�·=-E Hs1 S-K7]1
 VJQ s  H ! K !  LV VHOHFWHG WKH
Sgn(s), s1 >0, 7]1 >0 1s selected, the EO-DSMC FRQWUROOHU
(2'60& controller. 7KH
The GRXEOH
double SRZHU
power DSSURDFKLQJ
approaching ODZ
law
sliding
VOLGLQJ mode
PRGH
PRGH control
FRQWURO
FRQWURO law
ODZ
ODZ is
LV designed DV
GHVLJQHG as can EH
FDQ be H[SUHVVHG
expressed DV D ss k1VJQ
as ss =-a il
k
s  E ss k'VJQ
sgn(s)-,8 s ).
sgn(sil
k

uU1x x =-c1
c xxe .+K  xd -Hs1
K x1 xImm+xa s
 
s1 
- K ry1
 sgn(s1
VJQ s
).
 In
,Q order
RUGHU
DotDQG are the reaching rate coefficients respectively; kk1
and E,8DUHWKHUHDFKLQJUDWHFRHIILFLHQWVUHVSHFWLYHO\ 
to further weaken chattering caused by sliding mode control,
WRIXUWKHUZHDNHQFKDWWHULQJFDXVHGE\VOLGLQJPRGHFRQWURO
hyperbolic tangent function WDQK
K\SHUEROLFWDQJHQWIXQFWLRQ tanh(˜ ·)LVXVHGLQVWHDGRIVLJQ
is used instead of sign and kk2 are the double power index parameters
DQG  DUH WKH GRXEOH SRZHU LQGH[ SDUDPHWHUV RI WKHof the

sgn(-).
function VJQ
IXQFWLRQ ˜  reaching rate respectively, which need to satisfyDot, EfJ!>0,
UHDFKLQJUDWHUHVSHFWLYHO\ZKLFKQHHGWRVDWLVI\
kk1 > 0 , 0 < k2 < 1 ; the sign function is sgn(s).
 !     k   WKHVLJQIXQFWLRQLV VJQ s 
The FRQWURO
7KH control ODZ
law GHVLJQ
design RI
of SRVLWLRQ subsystem uu
position VXEV\VWHP y1Y
and
DQG
Therefore, design of sliding mode controller with double
7KHUHIRUHGHVLJQRIVOLGLQJPRGHFRQWUROOHUZLWKGRXEOH
uU1 z is similar to U1 x , so the final position subsystem
 z LV VLPLODU WR ux  VR WKH ILQDO SRVLWLRQ VXEV\VWHP power reaching rate based on exponential observer the pitch
SRZHUUHDFKLQJUDWHEDVHGRQH[SRQHQWLDOREVHUYHUWKHSLWFK
control law is designed as
FRQWUROODZLVGHVLJQHGDV angle control rate of four rotor UAV is
DQJOHFRQWUROUDWHRIIRXUURWRU8$9LV

uu1
x
x -c1
= Hs1 S1-7]
K xxImm+xxdd-E
e +K1
c x.Xe K 1WDQK  ),
tanh(ss1 uu2
 TB.
cc4
= lK TBIIIx
e +lK4 T d -dd 1
x +Ba
-HE2 K WDQK , (2)  D sisl1 VJQ
 (4 )
 uU1 =-c ye +Kj1
 y Y c j;.  yYa
K  y Imm+ d   sS2
-1]2 tanh(ss2
 )    +a1
k
s )+EA
sgn(s4 i sl zVJQ
 s
k
s ).
sgn(s4 
uu1
z z 
= -c3z
c z +KK3z d  H E3S3
m+gg+zZa-
 z Im  s  K WDQK
-7]3 s  .
tanh(s3)
Where, cc 4LV
:KHUH isWKH
theVOLGLQJ
slidingVXUIDFH
surfaceSDUDPHWHU andcc 4 !>0;
parameter, DQG

72
72

Authorized licensed use limited to: Walchand College of Eng. Downloaded on January 09,2023 at 12:14:03 UTC from IEEE Xplore. Restrictions apply.
 dd1 LV
is WKH
the HVWLPDWHG
estimated YDOXH
value RI
of LQWHUIHUHQFH J WR
interference FRUUHVSRQGLQJ
corresponding to yaw angle was set as \
\DZDQJOHZDVVHWDV Orad,
If/= rad WKHGHVLUHGWUDMHFWRU\DQG
the desired trajectory and
SHUWXUEDWLRQ
perturbation ZHUH
were VHW
set. :KHUH
Where, WKH
the GLVWXUEDQFH
disturbance ZDV
was VHW
set DV
as
the pitch angle; s
WKHSLWFKDQJOH is the sliding mode surface function; ss LV
s LVWKHVOLGLQJPRGHVXUIDFHIXQFWLRQ is
d1
d = VLQ t ˈd2
0.5sin(t), d  = VLQ t ˈd3
0.5sin(t), 0.5sin(2t).
d = VLQ t 
the first derivative of the sliding mode surface function; D
WKHILUVWGHULYDWLYHRIWKHVOLGLQJPRGHVXUIDFHIXQFWLRQ a1,
/31
E UHVSHFWLYHO\
respectively DUH are WKH
the DSSURDFKLQJ
approaching UDWH
rate FRHIILFLHQW
coefficient RI
of WKH
the
RXW
7KH
The VLPXODWLRQ
simulation YHULILFDWLRQ
verification RI
of VLQJOH
single PDFKLQH
machine LV
is FDUULHG
carried
out LQ
in WKH
the WZR
two FDVHV
cases RI
of GLVWXUEDQFH
disturbance ZLWKRXW
without H[SRQHQWLDO
exponential
pitch angle, k
SLWFKDQJOH k1 , kk2 UHVSHFWLYHO\DUHWKHGRXEOHSRZHULQGH[
respectively are the double power index FRQYHUJHQFH
convergence REVHUYHU
observer DQG
and GLVWXUEDQFH
disturbance ZLWK
with H[SRQHQWLDO
exponential
SDUDPHWHUVRIWKHDSSURDFKLQJUDWHRIWKHSLWFKDQJOHZKLFK
parameters of the approaching rate of the pitch angle, which FRQYHUJHQFH
convergence REVHUYHU
observer. ,Q
In RUGHU
order WR
to YHULI\
verify WKH
the YDOLGLW\
validity RI
of WKH
the
GHVLJQHGFRQWUROOHUWKHWUDGLWLRQDOVOLGLQJPRGHFRQWUROOHULV
designed controller, the traditional sliding mode controller is
should satisfy D
VKRXOGVDWLVI\ a1 !> 0, /31
E !> 0, kk1 !> 0 , 0 < kk2 < 1. XVHG
used LQ
in WKH
the SRVLWLRQ
position ORRS
loop, WKH
the GRXEOH
double SRZHU
power UHDFKLQJ
reaching ODZ
law
7KHVWDELOLW\RIDWWLWXGHFRQWUROOHU (2'60& SURSRVHG
The stability of attitude controller (EO-DSMC) proposed VOLGLQJPRGHFRQWUROOHUEDVHGRQWKHH[SRQHQWLDOREVHUYHULV
sliding mode controller based on the exponential observer is
is analyzed LQ
in WKLV
this SDSHU
LVDQDO\]HGLQWKLVSDSHUWKH/\DSXQRYIXQFWLRQLVVHOHFWHG
paper. the Lyapunov function is selected: DSSOLHGWRWKHDWWLWXGHORRSWRVXSSUHVVLQWHUIHUHQFH
applied to the attitude loop to suppress interference.
2
V= ( s
V s + dd12) 
/2.
 7DNHWKHILUVWGHULYDWLYHRIWKHIXQFWLRQ
Take the first derivative of the function:
45

V
V = s
ss
SS + dJJjl d 
d ::; 0. $PRQJ
. Among WKHP
them, a t2: lddllPD[
D max  40

d1mPD[ax[ . 7KH

E t2: ld1
f3 d1 (0) 35
The LQLWLDO
initial HUURU
error RI
of WKH
the REVHUYHU is d
observer LV  ,
30

DVVXPLQJ
assuming
ldd1(0)1 IJ11PD[
max, the observer error is also based
 = d WKHREVHUYHUHUURULVDOVREDVHG
{
25

RQ/\DSXQRYVWDELOLW\7KHUHIRUHWKHUHDOWLPHHVWLPDWLRQRI
on Lyapunov stability. Therefore, the real-time estimation of 20
interference d
WKHWRWDOLQWHUIHUHQFH
DOLQWHUIHUHQF
the total d1 FDQEHZHOOUHDOL]HGE\WKHREVHUYHG
can be well realized by the observed

'" �
15

value d
YDOXH d1.
  10
10.6

10.4
Then the convergence DQDO\VLV
analysis RI
of WK
7KHQWKHFRQYHUJHQFHDQDO\VLVRIWKHDWWLWXGHVXEV\VWHP
the attitude subsystem
FRQWURO
control LQSXW
input LV obtained V
is REWDLQHG d 0, FRQYHUJHQFH
V::; convergence DQGand V\VWHP
system 0
22 22.2 22.4 22.6 22.8
0 10 20 30 40 50
VWDELOLW\FDQEHUHDOL]HGLQWKHDWWLWXGHVXEV\VWHP
stability can be realized in the attitude subsystem. x/m

D ,QWHUIHUHQFHZLWKQRREVHUYHU
(a) Interference with no observer
Similarly, the control input u
6LPLODUO\WKHFRQWUROLQSXW u3, u4 FDQEHREWDLQHG
  u can be obtained:
45

40

\ e 
uu3 = cc5if/. lK\ I I
+lK5lj/ I yY  \ d -d
+lila d 2
35
k k
D  s  VJQ
+a2isl' s 
sgn(s5) E  lsl'
+ f32 s ,
sgn(s5)
s  VJQ

�
30
  
(5)
Ie 
uu4 = cc//J. lK 6Ir)l Iz
+lK Iz  Id -d
+(/Ja d3 25

k k 20
+Da3isl'
 s  VJQ
sgn(s E s  VJQ
+ f331sl'
s6)  s6).
sgn(s 10.8

10.6
Where, c
:KHUH c5 !
>0 , D
a2 !
> E 2 !> 0  kk3 !> 0 
0 , /3
10.4
0 
<k k4 
<1 ; cc6 !
> 0 , D
a3 !
> 0 , /33 E !> 0 , kk5 !> 0 ˈ
,
22 22.2 22.4 22.6 22.8
0 
<k k6 
<1. 7KH
The VHWWLQJV of u
settings RI u3, uu4 DUH
are VLPLODU
similar WR
to WKRVH
those RI
of 20 30 40 50
x/m
uU2 DQGDUHQRWGHWDLOHGKHUH
and are not detailed here. E 7KHUH
(b) VGLVWXUEDQFHWKHUH
There's VREVHUYHUH
disturbance, there's observere


)LJ7ZRGLPHQVLRQDOLPDJHVRIVLQJOHSODQHIOLJKWLQWZRFDVHV
Fig. l Two dimensional images of single plane flight in two cases
,9
IV. 6 RESULTS AND ANALYSIS
,08/$7,215(68/76$1'$1$/<6,6
SIMULATION
,Q
In WKH
the FDVH
case RI
of LQWHUIHUHQFH
interference, )LJ
Fig. 1 VKRZV
shows 7ZR
Two
,Q
In RUGHU
order WR
to YHULI\
verify WKH
the SURSRVHG
proposed FRQWUROOHU
controller, D
a TXDGURWRU
quadrotor
GLPHQVLRQDOLPDJHVRIVLQJOHSODQHIOLJKWLQWZRFDVHV)LJ
dimensional images of single plane flight in two cases. Fig.
DLUFUDIW
aircraft ZDV
was VHOHFWHG
selected IRU
for IOLJKW
flight VLPXODWLRQ
simulation. $OO
All TXDGURWRU
quadrotor
l (a)
D  VKRZV
shows WKH
the VLQJOHPDFKLQH
single-machine IOLJKW'
flight2D LPDJHV
images REWDLQHG
obtained
PRGHOV
models LQin WKH
the VLPXODWLRQ
simulation ZHUH
were WKH
the VDPH
same DV
as IRUPXOD
formula (1). WKH
the
ZLWKRXWDGGLQJWKHLQGH[REVHUYHUGHVLJQHGLQWKLVSDSHU)LJ
without adding the index observer designed in this paper, Fig.
parameters of quadrotor UAV controlle is: c
SDUDPHWHUVRITXDGURWRU8$9FRQWUROOHLV C1 = cC2 = cC3 =1, l (b)
E VKRZVWKHVLQJOHPDFKLQHIOLJKW'LPDJHVREWDLQHGE\
shows the single-machine flight 2D images obtained by
DGGLQJWKHFRQWUROOHUGHVLJQHGLQWKLVSDSHU7KHFRPSDULVRQ
&1 = H&2 = H&3 =2 , K11J =K172 =K173 =0.01,
   H
cc4 = cc5 = cc6=5,   adding the controller designed in this paper. The comparison
RI
of '
3D WUDFN
track LPDJHV
images LQ
in WKH
the DERYH
above WZR
two FDVHV
cases LV
is QRW
not REYLRXV
obvious.
D �=�=��
 D  D   , A E =A E  =A�E  ,�=�=�� k k k  , $IWHUORFDODPSOLILFDWLRQRIWKH'LPDJHLWFDQEHVHHQWKDW
After local amplification of the 2D image, it can be seen that
WKH
the LPDJH
image IOXFWXDWHV
fluctuates LQ
in WKH
the FDVH
case RI
of LQWHUIHUHQFH
interference DQG
and QR
no
kk2 = kk4 = kk6=0.2
   . 7KH
The LQLWLDO
initial SRVLWLRQ
position RI of WKH
the VLQJOH
single REVHUYHU1H[WWKHSRVLWLRQDQGDWWLWXGHWUDFNLQJHUURUVZLWK
observer. Next, the position and attitude tracking errors with
PDFKLQH
machine ZDV was VHW as (x,
set DV y zz )= (0,
x y, 0, 0) , WKH
 the LQLWLDO
initial DQJOH
angle GLVWXUEDQFHDQGREVHUYHUDUHDQDO\]HG
disturbance and observer are analyzed.
was (T
ZDV B,\  I = (0,
If/,¢) 0, 
  0) 6HWWLQJH[SRQHQWLDOFRQYHUJHQFH
. Setting exponential convergence
GLVWXUEDQFH
disturbance REVHUYHU
observer SDUDPHWHU was n
parameter ZDV n =100,   WKH
the H[SHFWHG
expected

73

Authorized licensed use limited to: Walchand College of Eng. Downloaded on January 09,2023 at 12:14:03 UTC from IEEE Xplore. Restrictions apply.
 x-direction tracking error 41(rad) attitude angle tracking error

tis

\
tis
 H $WWLWXGHDQJOH
D 7UDFNLQJHUURULQ[GLUHFWLRQ (e) Attitude angle lj/ WUDFNLQJHUURU
tracking error
(a) Tracking error in x direction
y-direction tracking error «rad) altitude angle tracking error

tis
tis
 
E 7UDFNLQJHUURULQ\GLUHFWLRQ
(b) Tracking error in y direction I $WWLWXGHDQJOH
(f) Attitude angle I¢ WUDFNLQJHUURU
tracking error
z-direction tracking error
)LJ6LQJOHPDFKLQHIROORZLQJHUURUZLWKGLVWXUEDQFHDQGREVHUYH
Fig. 2 Single machine following error with disturbance and observe

)LJ
Fig. 2 LV
is WKH
the SRVLWLRQ
position DQG
and DWWLWXGH
attitude WUDFNLQJ
tracking HUURUV
errors ZLWK
with
GLVWXUEDQFH
disturbance DQGand REVHUYHU
observer. )LJ
Fig. 2(a),
D  )LJ
Fig. 2(b)
E  DQG
and )LJ
Fig. 2(c)
F
VKRZWKHWUDFNLQJHUURULQWKHWKUHHGLUHFWLRQVRI[\DQG]
show the tracking error in the three directions of x, y and z
WHQGV
tends WR
to ]HUR
zero DV
as D
a ZKROH
whole DIWHU
after WKH
the GLVWXUEDQFH
disturbance DQG
and REVHUYHU
observer
DUHDGGHGVRLWFDQEHVHHQWKDWWKHGHVLJQHGREVHUYHUKDVD
are added, so it can be seen that the designed observer has a
FHUWDLQLQKLELWRU\HIIHFWRQWKHGLVWXUEDQFH)LJ
certain inhibitory effect on the disturbance. Fig. 2(Gd)DQG)LJ and Fig.
2(f) show the tracking errors at the attitude angles Te DQG
I VKRZWKHWUDFNLQJHUURUVDWWKHDWWLWXGHDQJOHV and I¢ 
WHQGV WR ]HUR DV D ZKROH DIWHU WKH GLVWXUEDQFH
tends to zero as a whole after the disturbance and observer DQG REVHUYHU
DUHDGGHG$IWHUDGGLQJREVHUYHUWKHGLVWXUEDQFHLVUHGXFHG
are added. After adding observer, the disturbance is reduced
WKH
the LQIOXHQFH
influence RQ on WKUHH
three DWWLWXGH
attitude DQJOHV
angles, WKH
the \DZ angle \
yaw DQJOH lj/ LV
is
QRW
not ]HUR
zero LQ
in )LJ
Fig. 2(e),
H  EHFDXVH
because WKH
the DGGHG
added GLVWXUEDQFH
disturbance LV is
tis

ZDYHIRUP
waveform, WKH the H[SHFWHG
expected \DZyaw DQJOH
angle LV
is VHW
set WR
to ]HUR
zero, VR
so WKH
the
F 7UDFNLQJHUURULQ]GLUHFWLRQ
(c) Tracking error in z direction WUDFNLQJ
tracking HUURUV
errors DUH
are VXEWUDFWHG
subtracted LQin D
a ZDYH
wave VKDSH
shape. +RZHYHU
However,
e(rad) attitude angle tracking error IURP
from WKHthe RUGLQDWH
ordinate, LW it FDQ
can EH
be VHHQ
seen WKDW
that WKH
the GLVWXUEDQFH
disturbance
VXSSUHVVLRQHIIHFWLVHIIHFWLYHDQGWKHILQDOHUURUUDQJHPHHWV
suppression effect is effective and the final error range meets
WKH
the UHTXLUHPHQWV
requirements. ,W It FDQ
can EH
be VHHQ
seen WKDW
that WKH
the GLVWXUEDQFH
disturbance RI
of WKH
the
DWWLWXGHVXEV\VWHPLVVXSSUHVVHGE\WKHGHVLJQHGREVHUYHU
attitude subsystem is suppressed by the designed observer.
7KHUHIRUHLWLVFRQFOXGHGWKDWWKHVWDEOHIOLJKWDELOLW\RI
Therefore, it is concluded that the stable flight ability of
WKH
the TXDGURWRU
quadrotor 8$9
UAV FDQcan EH
be JXDUDQWHHG
guaranteed E\
by WKH
the GHVLJQHG
designed
FRQWUROOHUDQGWKHDQWLLQWHUIHUHQFHDELOLW\
controller, and the anti-interference ability LVDOVRSRVVHVVHG
is also possessed
E\WKHV\VWHP
by the system.

9
V. &21&/86,21
CONCLUSION

,QWKH
In the DWWLWXGH
attitude VXEV\VWHP
subsystem, WKH
the XQNQRZQGLVWXUEDQFHV
unknown disturbances DUHare
UHJDUGHG
regarded DVas WKH
the GLVWXUEDQFHV
disturbances REVHUYHG
observed E\
by WKH
the H[SRQHQWLDO
exponential
REVHUYHU7KHQWKHGRXEOHSRZHUUHDFKLQJUDWHVOLGLQJPRGH
observer. Then, the double power reaching rate sliding mode
tis
 FRQWUROOHU
controller EDVHG
based RQ
on WKH
the H[SRQHQWLDO
exponential REVHUYHU (2'60& )
observer (EO-DSMC
G $WWLWXGHDQJOH
(d) Attitude angle T8 WUDFNLQJHUURU
tracking error ZDV
was SURSRVHG
proposed WR to VROYH
solve WKH
the FKDWWHULQJ
chattering SUREOHP
problem RI
of VOLGLQJ
sliding

74
74

Authorized licensed use limited to: Walchand College of Eng. Downloaded on January 09,2023 at 12:14:03 UTC from IEEE Xplore. Restrictions apply.
PRGHFRQWURO7KHREVHUYHGGLVWXUEDQFHVZHUHIHGEDFNLQWR
mode control. The observed disturbances were fed back into REVHUYHUWK&KLQHVH&RQWURO&RQIHUHQFH
observer," 2020 39th Chinese Control Conference (CCC), &&& 6KHQ\DQJ
Shenyang,
WKHFRQWUROODZWRFRPSHQVDWHWKHVLPXODWLRQH[SHULPHQWRI &KLQDSS
China, 2020, pp. 2072-2077.
the control law to compensate, the simulation experiment of
8$9 >@ $(OWD\HE0)5DKPDW0$0%DVUL0$0(OWRXPDQG6
UA V IOLJKW
flight ZDV
was FDUULHG
carried RXW
out. 7KH
The VLPXODWLRQ
simulation UHVXOWV
results RI
of WKH
the [3] A. Eltayeb, M. F. Rahrnat, M. A. M. Basri, M. A. M. Eltourn and S.
(O)HULN
El-Ferik, "An $Q ,PSURYHG
Improved 'HVLJQ
Design RI of DQ
an $GDSWLYH
Adaptive 6OLGLQJ
Sliding 0RGH
Mode
FRQWUROOHUGHVLJQHGLQWKLVSDSHUDUHDVIROORZV
controller designed in this paper are as follows: &RQWUROOHUIRU&KDWWHULQJ$WWHQXDWLRQDQG7UDMHFWRU\7UDFNLQJRIWKH
Controller for Chattering Attenuation and Trajectory Tracking of the
4XDGFRSWHU8$9LQ,((($FFHVVYROSS
Quadcopter UA V," in IEEE Access, vol. 8, pp. 205968-205979, 2020.
(1) )URP
From WKH
the 8$9
UA V IOLJKW
flight WUDFN
track, WKH
the VWDELOLW\
stability RI
of VLQJOH
single
DLUFUDIWIOLJKWLVLPSURYHGE\WKHFRQWUROOHUGHVLJQHG >@
[4] ;6KL%+X&<LQ<&KHQJDQG;+XDQJ'HVLJQRIWUDMHFWRU\
X. Shi, B. Hu, C. Yin, Y. Cheng and X. Huang, "Design of trajectory
aircraft flight is improved by the controller designed. WUDFNLQJ
tracking FRQWUROOHU
controller ZLWK
with EDFNVWHSSLQJ
backstepping PHWKRG
method IRUfor TXDGURWRU
quadrotor
  :LWK
(2) With SRVLWLRQ
pos1t10n DQG
and DWWLWXGH
attitude WUDFNLQJ
tracking HUURUV
errors, XQPDQQHG
unmanned DHULDOaerial YHKLFOHV
vehicles," 
2018 &KLQHVH
Chinese &RQWURO
Control $QG
And 'HFLVLRQ
Decision
&RQIHUHQFH &&'& 6KHQ\DQJ&KLQDSS
Conference (CCDC), Shenyang, China, 2018, pp. 3124-3128.
LQWHUIHUHQFHFDQEHREVHUYHGE\WKHGHVLJQHGFRQWUROOHUWKH
interference can be observed by the designed controller, the
DQWLLQWHUIHUHQFHDELOLW\LVSRVVHVVHGE\WKHV\VWHP >@
[5] 7RP .XV]QLU DQG
Torn Kusznir and -DURVODZ
Jaroslaw 6PRF]HN
Srnoczek DQG
and 5DGHN
Radek 0DWXãĤ
Matusu. 6OLGLQJ
Sliding
anti-interference ability is possessed by the system. 0RGH%DVHG&RQWURORID8$94XDGURWRUIRU6XSSUHVVLQJWKH&DEOH
Mode-Based Control of a UAV Quadrotor for Suppressing the Cable­
6XVSHQGHG
Suspended Payload Vibration[J]. Journal of Control Science DQG
3D\ORDG 9LEUDWLRQ>-@ -RXUQDO RI &RQWURO 6FLHQFH and
$ &.12:/('*(0(17
ACKNOWLEDGEMENT (QJLQHHULQJ
Engineering, 2020, 2020.
>@
[6] *HQJ;LQ6XQ=KRQJWLQJ6+$1*:HQZX%DL-LDQMXQ'HVLJQRI
Geng Xin, Sun Zhongting, SHANG Wenwu, Bai Jianjun. Design of
7KH
The ZRUN
work LV
is VXSSRUWHG
supported E\
by WKH
the .H\
Key 5R & '
D SODQ
plan RI
of VOLGLQJ
sliding PRGH
mode WUDMHFWRU\
trajectory WUDFNLQJ
tracking FRQWUROOHU
controller EDVHG
based RQ
on GRXEOH
double SRZHU
power
6KDDQ[L
Shaanxi 3URYLQFH ='/*<
Province(2020ZDLG Y06 -01) DQG
and 6FLHQFH
Science & UHDFKLQJ
reaching ODZlaw >-@
[J]. -RXUQDO
Journal RI
of +DQJ]KRX
Hangzhou 'LDQ]L
Dianzi 8QLYHUVLW\ 1DWXUDO
University (Natural
7HFKQRORJ\
Technology ,QQRYDWLRQ
Innovation *XLGDQFH
Guidance 3URMHFW
Project RI
of ;L¶DQ
Xi'an, &KLQD
China 6FLHQFHHGLWLRQ
Science edition),
2020, 40(04 ):
70-75.
-<  6FLHQFH
(21JY033). Science & 7HFKQRORJ\
Technology ,QQRYDWLRQ
Innovation *XLGDQFH
Guidance >@
[7] 5
R. (
E. 0DQH
Mane DQG and $
A. *
G. 7KRVDU
Thosar, 'HVLJQ
"Design RI
of 1RQ
Non /LQHDU
Linear &RQWURO
Control RI
of
3URMHFWRI;L¶DQ&KLQD 1R.-5&
Project of Xi'an, China (No. 2020KJRC0087). 4XDGURWRU
Quadrotor 8QPDQQHG
Unmanned $HULDO
Aerial 9HKLFOH 8$9  
Vehicle(UAV)," 2020 ,(((
IEEE )LUVW
First
,QWHUQDWLRQDO
International &RQIHUHQFH
Conference RQon 6PDUW
Smart 7HFKQRORJLHV
Technologies IRU
for 3RZHU
Power, (QHUJ\
Energy
DQG&RQWURO 673(& SS
and Control (STPEC), 2020, pp. 1-6.
5()(5(1&(6
REFERENCES >@
[8] =+21*+DL[LQ4LX6HQKXL/82;LDRVKXHWDO$WWLWXGH&RQWURORI
ZHONG Haixin, Qiu Senhui, LUO Xiaoshu, et a!. Attitude Control of
>@
[1] '
D. ;XDQG .&DR
Xu and K. Cao, )RUPDWLRQ&RQWURORI4XDGURWRUV
"Formation Control of Quadrotors IRU0DQHXYHU
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