A Finite-Time Disturbance Observer-Based Control for Constrained Second-Order Dynamical Systems and Its Application to the Attitude Tracking of a UAV

Nguyen Xuan Mung, Nguyen Huu Tiep, Loan Thi Kim Au, Nguyen Ngoc Anh, Xuan Nguyen and Nguyen Phi ()
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Nguyen Xuan Mung: Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 05006, Republic of Korea
Nguyen Huu Tiep: Department of Quantum and Nuclear Engineering, Sejong University, Seoul 05006, Republic of Korea
Loan Thi Kim Au: Faculty of Mechanical Engineering, Ho Chi Minh University of Technology and Education, Ho Chi Minh City 71307, Vietnam
Nguyen Ngoc Anh: Phenikaa Institute for Advanced Study, Phenikaa University, Hanoi 12116, Vietnam
Xuan Nguyen: Faculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, Vietnam
Nguyen Phi: Faculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, Vietnam

Mathematics, 2025, vol. 13, issue 11, 1-16

Abstract: As second-order dynamical systems are omnipresent, solving the control problem for such a class of systems has attracted worldwide attention. Among many techniques, the backstepping control method is well-known for its straightforward design and efficacy, yet it suffers from the inherent issue of complexity explosion. This work aims to leverage the backstepping method in a finite-time-converging control scheme. First, to address the presence of external disturbances, a nonlinear, unknown-input observer is introduced, which provides a disturbance estimate with finite-time convergence. Second, a fast-converging finite-time filter is used to estimate the derivative of virtual control inputs in the backstepping framework. Next, the outputs of the disturbance observer and the filter are used to formulate a finite-time, backstepping control law. Additionally, the closed-loop system is proven to be finite-time stable through a rigorous stability analysis. Finally, the proposed algorithm is applied to an unmanned aerial vehicle (UAV) system and validated through simulations and experiments under actual flight conditions. The experimental results demonstrate the feasibility of the implementation and the practical efficacy of the proposed approach.

Keywords: finite time; disturbance observer; state constraint; second-order system; UAV (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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