A Robust Control for an Aerial Robot Quadrotor under Wind Gusts

Abstract

A robust flight controller based on linear active disturbance rejection control (LADRC) is proposed for stability control of an aerial robot quadrotor under wind gusts. The nonlinear dynamical model of the quadrotor, considering the wind disturbance, is firstly established through Newton-Euler method. Subsequently, a robust LADRC technique is proposed to design the controllers for the inner loop and outer loop of the aircraft. In this control scheme, the linear extended state observer (LESO) serves as a compensator which can effectively reject the wind gusts. Then, a method of parameter tuning is introduced to obtain the optimized control performance. Finally, the effectiveness and advantages of the proposed controller are demonstrated through series of simulation case.

Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm

“…1, where two motors rotate clockwise, and the two other motors rotate counterclockwise. This strategy helps the quadrotor to not rotate on its vertical axis as the rotational inertia is canceled out, discarding the requirement for a tail rotor that is used to balance the conventional quadrotor [7,19].…”

Controle De Formação E Rastreamento De Trajetória De Veículos Aéreos Não Tripulados Utilizando Adrc Modificado E Função Potencial

“…Figura 1: Sistemas de coordenadas: referencial inercial O e referencial O l fixo no quadrirrotor. Adaptado (Ding and Wang, 2018;Lima, 2015).…”

“…Portanto, um dos desafios na área de controle é garantir a robustez, tanto em relação às incertezas nos parâmetros dinâmicos do sistema, quanto em relação aos distúrbios externos. Neste cenário, pode-se encontrar estratégias de controle adaptativo (Wang and Liu, 2017), controle por modos deslizantes (Lee et al, 2009) e ADRC (Ding and Wang, 2018). No entanto, o controlador adaptativo apresenta pouca robustez aos distúrbios externos e dinâmicas não modeladas, e o controle por modos deslizantes apresenta componentes de alta frequência no sinal de controle (chattering).…”

“…Além disso, ambas são estratégias de controle não lineares. Já a estratégia ADRC proposta em Ding and Wang (2018), embora seja linear e robusta aos distúrbios externos e às dinâmicas não modeladas, apresenta pouca robustez às incertezas no ganho de controle, que é fortemente dependente da variação na massa e momento de inércia, no caso dos quadrirrotores.…”

Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System Based on Approximate Model

“…Since the reference signals are always bounded, h is bounded with the condition that the generalized disturbances is differentiable [22]. Consequently, when there is unknown model error, the estimation error of LESO can converge to a constant in the finite time and its upper bound monotonously decreases with the observer gain.…”