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Volume 10 Issue 11
Nov.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2023  >  10(11): 2056-2069
H. X. Ma, M. Chen, and  Q. X. Wu,  “Disturbance observer-based safe tracking control for unmanned helicopters with partial state constraints and disturbances,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 11, pp. 2056–2069, Nov. 2023. doi: 10.1109/JAS.2022.105938
Citation: H. X. Ma, M. Chen, and  Q. X. Wu,  “Disturbance observer-based safe tracking control for unmanned helicopters with partial state constraints and disturbances,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 11, pp. 2056–2069, Nov. 2023. doi: 10.1109/JAS.2022.105938
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Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances

doi: 10.1109/JAS.2022.105938
Funds:  This work was supported in part by the National Natural Science Foundation of China (U2013201), the National Science Fund for Distinguished Young Scholars (61825302), and the Postgraduate Research & Practice Innovation Program of Jiangsu Province (KYCX20_0208)
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    Abstract

  • In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results.

     

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    Highlights

    • To handle the time-varying partial state constraints of the UAH, a SPA is proposed to generate the safe desired trajectories. A first-order DSC technique is utilized to deal with the piecewise differentiability of the safe desired trajectories
    • A developed second-order disturbance observer method is investigated to estimate the disturbances, and the unbiased estimation of their time derivatives is achieved
    • The closed-loop system convergence is guaranteed by the Lyapunov method, which shows that all closed-loop system signals are bounded. Namely, the UAH system can track the generated safe desired trajectories and satisfies partial time-varying state constraints

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