This paper presents the design of a disturbance rejection-based control strategy for a quadrotor unmanned aerial vehicle subject to model uncertainties and external disturbances described by turbulent wind gusts of severe intensity. First, an extended state observer is introduced to supply full-state and total disturbance estimations within a fixed time regardless of initial estimation errors. Then, an adaptive non-singular fast terminal sliding mode controller with a single-gain structure is proposed to reduce the tuning complexity and drive the pose of the rotorcraft while providing practical finite-time convergence, robustness to bounded external disturbances, non-overestimation of its control gain, and chattering attenuation. Furthermore, the stability of the closed-loop system is guaranteed through homogeneity and Lyapunov theory. Simulation results obtained through the ROS/Gazebo framework demonstrate graphically and quantitatively that the proposed observer-based controller reduces the influence of perturbations and requires less torque effort than existing methods in the presence of sensor noise.
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http://dx.doi.org/10.1016/j.isatra.2024.12.003 | DOI Listing |
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