Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Abstract

The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.

Robust Finite-Time Tracking Control Based on Disturbance Observer for an Uncertain Quadrotor under External Disturbances

“…Substituting the second-time derivative of the tracking errors into equations ( 9) and (10), we obtain the following equation:…”

“…e problem of trajectory tracking control of autonomous robots has become an active research topic. Numerous control approaches were developed to solve this issue and achieve accurate path tracking; for instance, PID control [5,6], backstepping control [7][8][9], sliding mode control (SMC) [10][11][12][13], dynamic inversion [14], and adaptive control [15][16][17]. Owing to the inherent robustness and the excellent tracking precision of the sliding mode technique, it is widely used to control nonlinear complex systems [18,19].…”