A novel control scheme for quadrotor UAV based upon active disturbance rejection control

Zhang, Yong; Chen, Zengqiang; Zhang, Xinghui; Sun, Qinglin; Sun, Mingwei

doi:10.1016/j.ast.2018.06.017

Cited by 203 publications

(99 citation statements)

References 15 publications

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“…Proof. Substituting the control laws (15) and (23) into the model of manned submersible (14) and (17), respectively, we can obtain the closed-loop error dynamic system as {̇e = −k e ,…”

Section: Disturbance Characterization-based Backstepping Controller (mentioning

confidence: 99%

“…Disturbance observer–based control (DOBC) method provides a valid way to reject the external disturbances and model uncertainties . The DOBC method is known as a two‐degrees‐of‐freedom control technique.…”

Section: Introductionmentioning

confidence: 99%

“…Disturbance observer-based control (DOBC) method provides a valid way to reject the external disturbances and model uncertainties. [14][15][16][17][18][19] The DOBC method is known as a two-degrees-of-freedom control technique. It is composed of a disturbance rejector and a nominal controller.…”

mentioning

confidence: 99%

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Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Fang

Liu

Zhao³

2019

Intl J Robust & Nonlinear

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Summary This paper investigates a novel disturbance estimation and characterization‐based robust control scheme of the manned submersible in the presence of external disturbances and model uncertainties. First of all, a finite‐time disturbance observer is designed to estimate the lumped disturbances of the manned submersible system. Then, a novel disturbance characterization index is defined via Lyapunov theory to indicate whether the lumped disturbances harm or benefit the manned submersible system. The control law is developed via the disturbance characterization–based backstepping control (DCB‐BC) method to remove the detrimental disturbances and to keep the beneficial disturbances of the manned submersible. Additionally, the rigorous stability analysis is given based on Lyapunov theory. Furthermore, some simulation results verify the effectiveness of the proposed DCB‐BC method. The key novelty of this paper is that the disturbances are explicitly used in the controller design to achieve better control performance and disturbance rejection capability.

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“…Proof. Substituting the control laws (15) and (23) into the model of manned submersible (14) and (17), respectively, we can obtain the closed-loop error dynamic system as {̇e = −k e ,…”

Section: Disturbance Characterization-based Backstepping Controller (mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Fang

Liu

Zhao³

2019

Intl J Robust & Nonlinear

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show abstract

“…Remark 1: p J is an unknown matrix which is not only relative to the shape, dimensions and mass of the payload, but also relative to 0 x and 0 y (see Figure 1). Table 1 gives the detailed physical parameters of the quad-rotor [18] used in this paper.…”

Section: System Modeling and Problem Formationmentioning

confidence: 99%

Predictive Control of Quad-Rotor Delivering Unknown Time-Varying Payloads Based upon Extended State Observer

Wang¹

2019

AAST

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In this paper, robust control problem is addressed for quad-rotor delivering unknown time-varying payloads. Firstly, the model of a quad-rotor carrying payloads is built. Dynamics of the payloads are treated as disturbances and added into the model of the quad-rotor. Secondly, to enhance system robustness, the extended state observer (ESO) is applied to estimate the disturbances from the payloads for feedback compensation. Then a type of predictive controller targeting multiple-input-multiple-output (MIMO) system is developed to degrade the influences caused by sudden changes from loading/dropping of the payloads. Finally, by making comparison with the conventional cascade proportional-integral-derivative (CPID) and the sliding mode control (SMC) approaches, superiority of the scheme developed is validated. The simulation results indicate that the CPID method shows poor performance on attitude stabilization and the SMC shows input chattering phenomenon even it can achieve satisfied control performances.

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“…According to the cascade control theory, the lateral-directional control of full-wing UAVs can be divided into the lateral-directional attitude control and the lateral-directional trajectory control. For the former, Han [3] and Gao [4] proposed the theory of active disturbance rejection control, which is a control theory with a strong robust ability and easy engineering realization [5], and it is very suitable for flight control design [6][7][8]. Nonlinear dynamic inversion control (NDI) is widely used in flight control research [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

A Lateral-Directional Control Method for High Aspect Ratio Full-Wing UAV and Flight Tests

Zhu

Zhou

et al. 2019

Applied Sciences

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To solve the lateral-directional control problem of the high aspect ratio full-wing unmanned aerial vehicle (UAV) without an aileron and rudder, a control method is proposed that uses the differential thrust of propellers as the control output and the yaw angle as the controlled attitude angle. Meanwhile, simulation analysis and experimental verification are carried out. First, a lateral-direction mathematical model and a differential thrust of propeller model of the full-wing drone are established. The influence of the aerodynamic derivative C Y β on the lateral-direction mode is analyzed. Second, based on nonlinear dynamic inversion (NDI) and active disturbance rejection control (ADRC) theories, a yaw angle controller that uses the differential thrust of propellers as the control output is designed. Finally, the vector field (VF) method is improved to obtain the straight-line trajectory tracking method satisfying different speeds, and the logic of waypoint switching is given. The research shows that C Y β has a great influence on the dutch roll damping of the drone. For the full-wing configuration, it is feasible to use the yaw angle as the controlled attitude angle without considering the roll angle. The simulation and experimental results show that the designed lateral-directional control method for the high aspect ratio full-wing UAV has a good control effect and disturbance rejection ability. Meanwhile, the control method has less parameters to adjust and less calculation, which is very suitable for engineering applications.

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A novel control scheme for quadrotor UAV based upon active disturbance rejection control

Cited by 203 publications

References 15 publications

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Trajectory tracking control for manned submersible system with disturbances via disturbance characterization index approach

Predictive Control of Quad-Rotor Delivering Unknown Time-Varying Payloads Based upon Extended State Observer

A Lateral-Directional Control Method for High Aspect Ratio Full-Wing UAV and Flight Tests

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