Position tracking and attitude control for quadrotors via active disturbance rejection control method

In this paper, a trigonometric-saturation-function-based position controller is designed for the quadrotor system with internal and external disturbances. Furthermore, in the attitude control problem, a dual closed-loop structure is put forward. Specifically, a nonlinear extended-state-observer (ESO) is employed to provide an estimate for the so-called total disturbance. Then, based on the estimate provided by the ESO, a nonlinear composite control strategy is designed for the purpose of angular tracking. Some sufficient conditions are established to guarantee that the position and attitude subsystems are stable. The contributions are mainly as follows. (1) A trigonometric-saturation-function is used in the position control which could guarantee that the studied system is fully-actuated. (2) The nonlinear ESO is implemented in the attitude control-loop which could enhance the anti-disturbance property. Finally, some numerical simulations and practical experiments are provided to verify the applicability of the proposed methodology.

[1]  Yuanqing Xia,et al.  Active disturbance rejection control for uncertain multivariable systems with time-delay , 2007 .

[2]  Bin Xu,et al.  Disturbance Observer-Based Dynamic Surface Control of Transport Aircraft With Continuous Heavy Cargo Airdrop , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[3]  Ning Sun,et al.  Nonlinear Hierarchical Control for Unmanned Quadrotor Transportation Systems , 2018, IEEE Transactions on Industrial Electronics.

[4]  Yisheng Zhong,et al.  Robust Attitude Stabilization for Nonlinear Quadrotor Systems With Uncertainties and Delays , 2017, IEEE Transactions on Industrial Electronics.

[5]  Chung Choo Chung,et al.  Disturbance-Observer-Based Position Tracking Controller in the Presence of Biased Sinusoidal Disturbance for Electrohydraulic Actuators , 2013, IEEE Transactions on Control Systems Technology.

[6]  Rita Cunha,et al.  Leader following trajectory planning: A trailer-like approach , 2017, Autom..

[7]  Jie Cao,et al.  State estimation for complex systems with randomly occurring nonlinearities and randomly missing measurements , 2014, Int. J. Syst. Sci..

[8]  Yuanyuan Zhang,et al.  Adaptive event-triggered H∞ filtering for T-S fuzzy system with time delay , 2016, Neurocomputing.

[9]  Zidong Wang,et al.  Nonfragile Near-Optimal Control of Stochastic Time-Varying Multiagent Systems With Control- and State-Dependent Noises , 2019, IEEE Transactions on Cybernetics.

[10]  Lei Guo,et al.  Event-Triggered Strategy Design for Discrete-Time Nonlinear Quadratic Games With Disturbance Compensations: The Noncooperative Case , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[11]  Rita Cunha,et al.  Experimental validation of a globally stabilizing feedback controller for a quadrotor aircraft with wind disturbance rejection , 2013, 2013 American Control Conference.

[12]  Yi Huang,et al.  On extended state based Kalman filter design for a class of nonlinear time-varying uncertain systems , 2018, Science China Information Sciences.

[13]  João P. Hespanha,et al.  Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty , 2007, IEEE Transactions on Automatic Control.

[14]  Yuanqing Xia,et al.  Active Disturbance Rejection Attitude Control for a Dual Closed-Loop Quadrotor Under Gust Wind , 2018, IEEE Transactions on Control Systems Technology.

[15]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[16]  Alan F. Lynch,et al.  Inner–Outer Loop Control for Quadrotor UAVs With Input and State Constraints , 2016, IEEE Transactions on Control Systems Technology.

[17]  Daniel C. Gandolfo,et al.  Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption , 2017, IEEE Transactions on Control Systems Technology.

[18]  Xiwang Dong,et al.  Formation and containment control for high-order linear swarm systems , 2015 .

[19]  Ziyang Meng,et al.  Distributed finite-time attitude containment control for multiple rigid bodies , 2010, Autom..

[20]  Yunpeng Zhang,et al.  Multivariable Finite Time Attitude Control for Quadrotor UAV: Theory and Experimentation , 2018, IEEE Transactions on Industrial Electronics.

[21]  Huijun Gao,et al.  Two Time-Scale Tracking Control of Nonholonomic Wheeled Mobile Robots , 2016, IEEE Transactions on Control Systems Technology.

[22]  Lei Guo,et al.  Optimal control for networked control systems with disturbances: a delta operator approach , 2017 .

[23]  Yi Huang,et al.  On comparison of modified ADRCs for nonlinear uncertain systems with time delay , 2018, Science China Information Sciences.

[24]  Di Zhou,et al.  A geometric approach for quadrotor trajectory tracking control , 2015, Int. J. Control.

[25]  Rita Cunha,et al.  Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle , 2016, IEEE Transactions on Control Systems Technology.

[26]  Zidong Wang,et al.  Near-Optimal Resilient Control Strategy Design for State-Saturated Networked Systems Under Stochastic Communication Protocol , 2019, IEEE Transactions on Cybernetics.

[27]  Khashayar Khorasani,et al.  Optimal hybrid fault recovery in a team of unmanned aerial vehicles , 2012, Autom..

[28]  N. Leenaa,et al.  Modelling and trajectory tracking of wheeled mobile robots , 2016 .

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

[30]  Yuanqing Xia,et al.  Active disturbance rejection control for power plant with a single loop , 2012 .

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

[32]  Bao-Zhu Guo,et al.  On convergence of nonlinear active disturbance rejection control for MIMO systems , 2012, Proceedings of the 31st Chinese Control Conference.

[33]  Vijay Kumar,et al.  Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU , 2017, IEEE Robotics and Automation Letters.

[34]  Ken Chen,et al.  Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method , 2013, IEEE Transactions on Industrial Electronics.