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Stable and Robust Discrete-time Tracking Control of Unmanned Vehicles Using a Finite-Time Stable Disturbance Observer
  • Reza Hamrah,
  • Amit Kumar Sanyal
Reza Hamrah
Syracuse University Department of Mechanical and Aerospace Engineering
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Amit Kumar Sanyal
Syracuse University Department of Mechanical and Aerospace Engineering

Corresponding Author:[email protected]

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Abstract

This work provides an asymptotically stable and robust tracking control scheme using a finite-time stable disturbance observer in the feedback loop, for an unmanned vehicle modeled as a rigid body. The dynamics of the system is discretized using a Lie group variational integrator in the form of a “gray box” dynamics model that also accounts for unknown additive disturbance force and torque. These disturbance terms are estimated using the finite-time stable disturbance observer in real-time and then compensated by the control scheme. The stability analysis for translational and rotational motions is carried out separately. It is shown that the discrete-time control laws achieve asymptotically stable tracking of the reference position and attitude trajectories.