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Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV

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Advanced, Contemporary Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1196))

Abstract

The paper focuses on controlling a quadrotor unmanned aerial vehicle (UAV). The highly nonlinear dynamics of the system, together with its under-actuated nature and strong cross-couplings, make the quadrotor control a challenging problem. To solve it, a robust strategy based on a concept of active disturbance rejection control (ADRC) is proposed. Its particular, error-based version is used to minimize sensing requirements and thus allows a more practical realization of the altitude/attitude trajectory following task without the availability of reference time derivatives. Three distinct variations of the error-based ADRC algorithms are derived and numerically tested. The findings of this research form a guide for end-users on how to select appropriate ADRC structure for quadrotor control depending on specific performance requirements and working conditions.

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Author information

Authors and Affiliations

  1. Military Academy, University of Defense in Belgrade, 11000, Belgrade, Serbia

    Momir Stankovic, Stojadin Manojlovic, Taki Eddine Lechekhab & Davorin Mikluc

  2. Energy Electricity Research Center, International Energy College, Jinan University, Zhuhai, 519070, People’s Republic of China

    Rafal Madonski

Authors
  1. Momir Stankovic
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  2. Rafal Madonski
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  3. Stojadin Manojlovic
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  4. Taki Eddine Lechekhab
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  5. Davorin Mikluc
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Corresponding author

Correspondence to Momir Stankovic .

Editor information

Editors and Affiliations

  1. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Andrzej Bartoszewicz

  2. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Jacek Kabziński

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Stankovic, M., Madonski, R., Manojlovic, S., Lechekhab, T.E., Mikluc, D. (2020). Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_112

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