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

Abstract A double closed-loop active disturbance rejection control (ADRC) scheme is proposed to deal with some difficult control problems in the quadrotor unmanned aerial vehicle (UAV) system such as nonlinearity, strong coupling and sensitive to disturbance, etc. Firstly, the virtual control variables are introduced to decouple the quadrotor flight system that can simplify the mathematical model of the system. Secondly, the extended state observer (ESO) is used to estimate and compensate the internal uncertainties and external disturbances in real time which can improve the robustness and anti-disturbance ability of the system. Finally, the stability of the system is proved. The simulation results show that the control scheme proposed in this paper can ensure that the quadrotor track the target trajectory quickly and accurately while maintaining stability, even with external disturbances.

[1]  Zhiqiang Gao,et al.  Active disturbance rejection control for MEMS gyroscopes , 2008, 2008 American Control Conference.

[2]  Gang Tao,et al.  Robust Backstepping Sliding-Mode Control and Observer-Based Fault Estimation for a Quadrotor UAV , 2016, IEEE Transactions on Industrial Electronics.

[3]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[4]  Zhiqiang Gao,et al.  Scaling and bandwidth-parameterization based controller tuning , 2003, Proceedings of the 2003 American Control Conference, 2003..

[5]  Guanghui Wen,et al.  Finite-time formation control for a group of quadrotor aircraft , 2017 .

[6]  Sarangapani Jagannathan,et al.  Output Feedback Control of a Quadrotor UAV Using Neural Networks , 2010, IEEE Transactions on Neural Networks.

[7]  Gang Tao,et al.  A Reconfiguration Scheme for Quadrotor Helicopter via Simple Adaptive Control and Quantum Logic , 2015, IEEE Transactions on Industrial Electronics.

[8]  Zhiqiang Gao,et al.  On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics , 2007, 2007 46th IEEE Conference on Decision and Control.

[9]  Xiaolin Ai,et al.  Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances , 2017 .

[10]  Maarouf Saad,et al.  Robust observer-based backstepping controller for a quadrotor UAV , 2017, 2017 IEEE 30th Canadian Conference on Electrical and Computer Engineering (CCECE).

[11]  Weihong Wang,et al.  Extended state observer based impact angle constrained guidance law for maneuvering target interception , 2015 .

[12]  Zongyu Zuo,et al.  Adaptive trajectory tracking control design with command filtered compensation for a quadrotor , 2013 .

[13]  Erdal Kayacan,et al.  Type-2 Fuzzy Logic Trajectory Tracking Control of Quadrotor VTOL Aircraft With Elliptic Membership Functions , 2017, IEEE/ASME Transactions on Mechatronics.

[14]  Xiaodong Liu,et al.  A novel extended state observer. , 2015, ISA transactions.

[15]  Tegoeh Tjahjowidodo,et al.  Centralized predictive ceiling interaction control of quadrotor VTOL UAV , 2018 .

[16]  Bijan Shirinzadeh,et al.  Nonlinear Double-Integral Observer and Application to Quadrotor Aircraft , 2015, IEEE Transactions on Industrial Electronics.

[17]  Huang Huang.  Characteristic modeling and all-coefficient adaptive control of a quadrotor , 2016, 2016 12th World Congress on Intelligent Control and Automation (WCICA).

[18]  Anthony Tzes,et al.  Model predictive quadrotor control: attitude, altitude and position experimental studies , 2012 .

[19]  Yang Shi,et al.  Integral Sliding Mode Flight Controller Design for a Quadrotor and the Application in a Heterogeneous Multi-Agent System , 2017, IEEE Transactions on Industrial Electronics.

[20]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[21]  Wen-Hua Chen,et al.  Online optimisation-based backstepping control design with application to quadrotor , 2016 .

[22]  Kai-Yuan Cai,et al.  Tracking control for a velocity-sensorless VTOL aircraft with delayed outputs , 2009, Autom..

[23]  Chen Zengqiang,et al.  Design of PID and ADRC based quadrotor helicopter control system , 2016, 2016 Chinese Control and Decision Conference (CCDC).