Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

被引：12
|
作者：
Ding, Li [1 ,2 ]
He, Qing [2 ]
Wang, Chengjun [1 ,3 ]
Qi, Rongzhi [2 ]
机构：
[1] Anhui Univ Sci & Technol, Anhui Key Lab Mine Intelligent Equipment & Techno, Huainan 232001, Peoples R China
[2] Jiangsu Univ Technol, Coll Mech Engn, Changzhou 213000, Jiangsu, Peoples R China
[3] Anhui Univ Sci & Technol, Coll Mech & Elect Engn, Huainan 232001, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING | 2021年 / 2021卷
基金：
中国国家自然科学基金;
关键词：
SLIDING-MODE-CONTROL; OBSERVER; VEHICLE; DESIGN; UAVS; SYSTEMS;
D O I：
10.1155/2021/8850071
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.
引用
收藏
页数：15
相关论文
共 50 条
  • [21] Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor
    Ramirez-Neria, Mario
    Luviano-Juarez, Alberto
    Gonzalez-Sierra, Jaime
    Ramirez-Juarez, Rodrigo
    Aguerrebere, Joaquin
    Hernandez-Martinez, Eduardo G.
    ACTUATORS, 2024, 13 (09)
  • [22] Disturbance Rejection and Asymptotically Stabilizing Control for a Quadrotor UAV
    Guo, Runxia
    Dong, Jiankang
    Zhu, Yi
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2015, 17 (04): : 33 - 41
  • [23] Cascade active disturbance rejection control for quadrotor UAV
    Xu, Linxing
    Guo, Dong
    Ma, Hongjun
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 8044 - 8048
  • [24] Disturbance Rejection for a Quadrotor Aircraft Througha Robust Control
    Lopez, R.
    Gonzalez-hernandez, I.
    Salazar, S.
    Rodriguez, A. E.
    Ordaz, J. J.
    Osorio, A.
    2015 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'15), 2015, : 409 - 415
  • [25] Active Disturbance Rejection Control System Design for Quadrotor
    Qin, Libo
    Zhou, Wenya
    Li, Long'en
    Jiang, Wenhui
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 6530 - 6534
  • [26] Backstepping Trajectory Tracking Control of a Quadrotor with Disturbance Rejection
    Rashad, Ramy
    Aboudonia, Ahmed
    El-Badawy, Ayman
    2015 XXV INTERNATIONAL CONFERENCE ON INFORMATION, COMMUNICATION AND AUTOMATION TECHNOLOGIES (ICAT), 2015,
  • [27] Trajectory tracking of quadrotor based on disturbance rejection control
    Wu C.
    Su J.-B.
    Su, Jian-Bo (jbsu@sjtu.edu.cn), 2016, South China University of Technology (33): : 1422 - 1430
  • [28] Based on robust sliding mode and linear active disturbance rejection control for attitude of quadrotor load UAV
    Wang, Zhaoji
    Zhao, Tong
    NONLINEAR DYNAMICS, 2022, 108 (04) : 3485 - 3503
  • [29] Based on robust sliding mode and linear active disturbance rejection control for attitude of quadrotor load UAV
    Zhaoji Wang
    Tong Zhao
    Nonlinear Dynamics, 2022, 108 : 3485 - 3503
  • [30] Active Disturbance Rejection Attitude Control for a Dual Closed-Loop Quadrotor Under Gust Wind
    Yang, Hongjiu
    Cheng, Lei
    Xia, Yuanqing
    Yuan, Yuan
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (04) : 1400 - 1405
12345