Separate Observer-based Estimation and Control for Unmanned Autonomous Vehicles with Disturbances and Faults under Input Saturation

Qianqian Zhang, Jie Gao, Guojie Han, Xin Hu

TL;DR: Separate Observer-based Estimation and Control for Unmanned Autonomous Vehicles

Abstract: This paper discusses the separate observer-based estimation and control for unmanned autonomous vehicles with disturbances and faults under input saturation effects. A trajectory tracking control scheme is designed with integrating the separate observers. The disturbance observer on-line estimates and compensates for time-varying uncertain disturbances. The actuator fault observer enables on-line estimation and compensation of actuator faults. An auxiliary dynamic filter is used to attenuate the adverse effects of control saturation. The Lyapunov stability theory demonstrates that all the signals of the closed-loop system are global uniformly ultimately bounded. Illustrations show the effectiveness of this scheme.

Submission Number: 28