Trajectory tracking of vertical take-off and landing unmanned aerial vehicles based on disturbance rejection control

We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy.

[1]  R. W. Brockett,et al.  Asymptotic stability and feed back stabilization , 1983 .

[2]  Mehmet Önder Efe,et al.  Battery power loss compensated fractional order sliding mode control of a quadrotor UAV , 2012 .

[3]  G. Raffo,et al.  An integral predictive / nonlinear H ∞ control structure for a quadrotor helicopter , 2009 .

[4]  Abdelkader Abdessameud,et al.  Global trajectory tracking control of VTOL-UAVs without linear velocity measurements , 2010, Autom..

[5]  Chris J. B. Macnab,et al.  Robust adaptive control of a quadrotor helicopter , 2011 .

[6]  Ümit Özgüner,et al.  Sliding mode control of a class of underactuated systems , 2008, Autom..

[7]  Ashfaq Ahmad Mian,et al.  Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter , 2008 .

[8]  Panagiotis Tsiotras.  Further passivity results for the attitude control problem , 1998, IEEE Trans. Autom. Control..

[9]  Zongyu Zuo,et al.  Trajectory tracking control design with command-filtered compensation for a quadrotor , 2010 .

[10]  Vijay Kumar,et al.  The GRASP Multiple Micro-UAV Testbed , 2010, IEEE Robotics & Automation Magazine.

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

[12]  H. Jin Kim,et al.  Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter , 2009 .

[13]  Wang Lu,et al.  Global trajectory tracking of VTOL UAV based on disturbance rejection control , 2013, Proceedings of the 32nd Chinese Control Conference.

[14]  Lu Wang,et al.  The Trajectory Tracking Problem of Quadrotor UAV: Global Stability Analysis and Control Design Based on the Cascade Theory , 2014 .

[15]  Roland Siegwart,et al.  Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[16]  Guilherme V. Raffo,et al.  An integral predictive/nonlinear Hinfinity control structure for a quadrotor helicopter , 2010, Autom..

[17]  順一 井村,et al.  Nonlinear Systems Third Edition, Hassan K. Khalil著, 出版社 Prentice Hall, 発行 2002年, 全ページ 750頁, 価格 ￡39.99, ISBN 0-13-067389-7 , 2003 .

[18]  Binglong Cong,et al.  Distributed attitude synchronization of formation flying via consensus-based virtual structure , 2011 .

[19]  Rita Cunha,et al.  A nonlinear quadrotor trajectory tracking controller with disturbance rejection , 2014, 2014 American Control Conference.

[20]  Helene Piet-Lahanier,et al.  A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory , 2011 .

[21]  Hichem Maaref,et al.  Controlling a drone: Comparison between a based model method and a fuzzy inference system , 2009, Appl. Soft Comput..

[22]  Mehmet Önder Efe,et al.  Neural Network Assisted Computationally Simple PI$^\lambda$D$^\mu$ Control of a Quadrotor UAV , 2011, IEEE Transactions on Industrial Informatics.

[23]  R. Olfati-Saber,et al.  Global configuration stabilization for the VTOL aircraft with strong input coupling , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[24]  Abdelkader Abdessameud,et al.  Formation control of VTOL Unmanned Aerial Vehicles with communication delays , 2011, Autom..

[25]  J. Aracil,et al.  Three‐time scale singular perturbation control and stability analysis for an autonomous helicopter on a platform , 2013 .