Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV
- 407 Downloads
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.
KeywordsADRC Quadrotor UAV Trajectory-following Altitude/attitude control
- 2.Chen, X., Zhang, G., Lu, C., Cheng, J.: Quadrotor aircraft attitude control algorithm based on improved UKF. In: IOP Conference Series: Earth and Environmental Science, vol. 233, no. 4, p. 042037 (2019)Google Scholar
- 9.Michałek, M.: Robust trajectory following without availability of the reference time-derivatives in the control scheme with active disturbance rejection. In: American Control Conference, pp. 1536–1541 (2016)Google Scholar
- 14.Gao, Z.: Scaling and bandwidth-parameterization based controller tuning. In: American Control Conference, vol. 6, pp. 4989–4996 (2006)Google Scholar