Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control

Adaptive Terminal Sliding Mode Control for Attitude and Position Tracking Control of Quadrotor UAVs in the Existence of External Disturbance

“…In addition, on the stability issue of quadrotors, non-linear parts and atmospheric perturbation should be considered [17,18]. In general, the main goal of control of a quadrotor is attitude and altitude control which keeps the quadrotor in the set point [19,20]. Therefore, some control approaches have been used for control of quadrotor including PID [21,22], Linear Quadratic Regulator (LQR) [23,24], feedback linearization control [25,26], backstepping control [27,28], SMC [29,30], and adaptive control [29,31].…”

“… The sliding manifolds (∀ = 1, … ,4) are converged to the origin in the finite time using the discontinuous control inputs ̇(∀ = 1, … ,4). Therefore, by taking integrations of ̇ which are calculated as(20), the control signals (∀ = 1, … ,4) are obtained and the chattering action is removed.…”

Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System

“…As mentioned in our previous works, the mathematical model of the quadrotor system is derived in Appendix A based on Newton–Euler equation and can be represented in Equation (1), while Newton’s law is used to obtain Equation (2), which is helpful to design a controller for the under-actuated quadrotor system using the acceleration in 3 dimensions [ 23 , 24 ]; all the parameters used are described in Table 1 . …”

“…The general chain of integrators system can be mathematically represented as: where could be and are the controller parameters and are tuned to get minimum OPI. Due to the derivation in [ 24 ] of the IADRC, which changes the system into a chain of integrators, the integrator term in the NLPID will be neglected. The NLPD controller for general chain of integrators system of order is represented as: …”

Practical Real-Time Implementation of a Disturbance Rejection Control Scheme for a Twin-Rotor Helicopter System Using Intelligent Active Force Control

“…One promising strategy is to utilize an active disturbance rejection control (ADRC) approach to achieve the desired motions with the ability to fend off disturbances. Najm and Ibraheem [13] presented an improved ADRC technique consisting of an improved tracking differentiator, a linear extended state observer, and a non-linear PID controller to stabilize a rotorcraft model and efficiently expel the exogenous disturbances and uncertainties. Yang et al [14] also presented, a practical composite control strategy based on ADRC and feed-forward input shaping technique.…”