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Finite-time disturbance observer-based modified super-twisting algorithm for systems with mismatched disturbances: Application to fixed-wing UAVs under wind disturbances

journal contribution
posted on 13.09.2021, 12:58 by Ngo Phong Nguyen, Hyondong Oh, Yoonsoo Kim, Jun Moon, Jun YangJun Yang, Wen-Hua ChenWen-Hua Chen
This article proposes a finite-time disturbance observer-based modified super-twisting algorithm (FDO-STA) for disturbed high-order integrator-chain systems under matched and mismatched disturbances. We first design a finite-time observer for disturbance estimation, in which we show the finite-time convergence of disturbance estimation errors to zero. Second, by employing the estimates of disturbances and their derivatives, a new dynamic sliding surface is derived, which ensures the finite-time convergence of the controlled output to zero in the sliding phase. Then, based on the estimates of disturbances and their derivatives, the designed sliding surface, and a modified super-twisting algorithm, we develop the FDO-STA, which guarantees the finite-time convergence of the sliding variable to zero in the reaching phase. Rigorous analysis is provided to show the finite-time stability of the overall closed-loop system under the proposed control scheme. We finally apply the proposed FDO-STA framework to the path following control for fixed-wing UAVs under wind disturbances. Various simulation results are provided to show the effectiveness of the proposed controller, compared with the existing control approaches.

Funding

Agency for Defense Development. Grant Number: U19176JF

National Research Foundation of Korea. Grant Numbers: 2020R1A6A1A03040570, NRF-2017R1A5A1015311

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

International Journal of Robust and Nonlinear Control

Volume

31

Issue

15

Pages

7317-7343

Publisher

Wiley

Version

AM (Accepted Manuscript)

Rights holder

© Wiley

Publisher statement

This is the peer reviewed version of the following article: NGUYEN, N.P. ... et al, 2021. Finite-time disturbance observer-based modified super-twisting algorithm for systems with mismatched disturbances: Application to fixed-wing UAVs under wind disturbances. International Journal of Robust and Nonlinear Control, 31 (15), pp.7317-7343, which has been published in final form at https://doi.org/10.1002/rnc.5678. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited.

Acceptance date

21/06/2021

Publication date

2021-07-07

Copyright date

2021

ISSN

1049-8923

eISSN

1099-1239

Language

en

Depositor

Prof Wen-Hua Chen. Deposit date: 7 September 2021