Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths

DOI10.1016/J.EJCON.2020.07.006MaRDI QIDQ1996707zbMATH OpenOpenAlexFDO

Authors Krzysztof Łakomy, Maciej Marcin Michałek

Publication date 25 February 2021

Published in European Journal of Control (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2001.01963

zbMATH Keywords

ADRCcascaded controloutput-feedbackpath followingrobust controlunderactuated vehicleVFO

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Observers (93B53) Input-output approaches in control theory (93D25)

Abstract: This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded control structure decouples system kinematics from system dynamics, resembling the approach utilized for nonholonomic systems. Thanks to the use of an ADR control approach in the dynamic-level controller, the proposed control structure is robust to even significant model uncertainties and external disturbances. Application of an error-based form of the Extended State Observer (ESO), implemented within the ADR inner-loop controller, implies the output-feedback characteristic of the control structure, i.e., only position and attitude of the vehicle body are expected to be measured. The kinematic-level controller is designed according to the VFO method utilizing the non-parametrized path representation to calculate the commanded velocities. The description of the proposed control structure is followed by the theoretical analysis utilizing the Input-to-State Stability (ISS) theorem and the simulation verification of the proposed solution.

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Cited in

(3)

• Simplifying ADRC design with error-based framework: case study of a DC-DC buck power converter
• Tuning of extended state observer with neural network-based control performance assessment
• Non-singular cooperative guiding vector field under a homotopy equivalence transformation

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• AURORA

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