Research on Amphibious Multi-Rotor UAV Out-of-Water Control Based on ADRC

Abstract

This paper presents a study on controlling the out-of-water motion of amphibious multi-rotor UAVs using a cascade control method based on the Active Disturbance Rejection Control (ADRC) algorithm. The aim is to overcome the challenges of time-varying model parameters and complex external disturbances. The research involves developing an underwater dynamic model and analyzing hydrodynamic forces to calculate theoretical inertial hydrodynamic forces and simulate viscous hydrodynamic forces. This establishes the relationship between viscous hydrodynamic forces and exit velocity. A complete air dynamic model is then established, selecting model parameters based on the center of mass position of the amphibious vehicle to enable switching from water to air. To address control algorithm instability caused by changes in model parameters, position and attitude controllers are built using the ADRC algorithm. The control effects are compared with traditional PID and sliding mode controllers (SMC) to verify the effectiveness and superiority of the proposed cascade ADRC control strategy. Experimental results show that our controller has stronger anti-interference than traditional PID and SMC controllers and can overcome control instability caused by changes in model parameters. Our research highlights the importance of using ADRC-based controllers for amphibious multi-rotor UAVs to achieve robust and stable control.

Active Disturbance-Rejection Controller (ADRC)-Based Torque Control for a Pneumatic Rotary Actuator with Positional Interference

“…As a typical data-driven controller, the active disturbance-rejection control technique has become increasingly popular in various fields, such as in satellite cameras [19] and amphibious multi-rotor drones [20], owing to its reduced dependence on precise models and strong disturbance-rejection capability [21]. In practical engineering applications, obtaining precise models is not always feasible.…”

Finite-Time Height Control of Quadrotor UAVs

“…However, the quadrotor UAV belongs to an open-loop unstable nonlinear system, which is underactuated and has strong coupling and vulnerability to external disturbances [8,9]. Especially in the height control of the quadrotor UAV, there are not only disturbances, such as gust and aerodynamic drag, but also control challenges caused by load change and body vibration [10,11]. Based on the terminal sliding mode, a novel control strategy is proposed to solve the position and attitude tracking problem of quadrotor UAVs under external disturbances and system uncertainties [10].…”

“…Based on the terminal sliding mode, a novel control strategy is proposed to solve the position and attitude tracking problem of quadrotor UAVs under external disturbances and system uncertainties [10]. In [11], a cascade control method with an Active Disturbance Rejection Control (ADRC) algorithm [12] is designed to control the out-of-water motion of amphibious multirotor UAVs under complex external disturbances. Therefore, a robust height control strategy with anti-disturbance ability is of great significance for maintaining flight safety of quadrotor UAVs.…”

Adaptive Finite-Time Trajectory Tracking Control for Coaxial HAUVs Facing Uncertainties and Unknown Environmental Disturbances

“…Recently, this team studied the instantaneous impact of periodic wave force acting on propellers and designed a second-order sliding-mode controller (SMC) to achieve a faster convergence rate and better robustness than traditional PID controllers [21]. A team from the Harbin Institute of Technology developed an amphibious multi-rotor UAV prototype [22], and the position and attitude controllers were established using an active disturbance rejection algorithm.…”