Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering

Authors

Boning Li, School of Electronic and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China
Ming Chen, School of Electronic and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China
Shuchang Qi, School of Electronic and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China
Haoran Meng, Anshan Iron & Steel Co. , Anshan 114021, China
Lei Wang, Angang Mining Machinery Manufacturing Co. , Anshan 114000, China

Abstract

Abstract: A finite-time fault-tolerant control scheme based on backstepping was proposed for the attitude tracking control problem of quadrotor UAVs. A finite-time neural network disturbance observer was designed, which could quickly compensate for the impacts of actuator failures and external disturbances, thereby enhancing the system's robustness. A first-order command filter and a compensation mechanism were introduced, which could avoid the computational complexity caused by differentiating the virtual control law and eliminate the influence of filtering errors. The hyperbolic tangent function was selected as the constraint function for the input torque, which restricted the input signal to prevent excessive magnitude and avoided the singularity problem in controller design. Numerical simulations and physical platform experiment results fully verified the effectiveness and feasibility of the proposed scheme.

Recommended Citation

Li, Boning; Chen, Ming; Qi, Shuchang; Meng, Haoran; and Wang, Lei (2025) "Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering," Journal of System Simulation: Vol. 37: Iss. 11, Article 8.
DOI: 10.16182/j.issn1004731x.joss.24-0583
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss11/8

First Page

2793

Last Page

2803

CLC

TP273

Recommended Citation

Li Boning, Chen Ming, Qi Shuchang, et al. Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering[J]. Journal of System Simulation, 2025, 37(11): 2793-2803.

Corresponding Author

Chen Ming

DOI

10.16182/j.issn1004731x.joss.24-0583