Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Abadi, Amine; Amraoui, Adnen El; Mekki, Hassen; Ramdani, Nacim

doi:10.1049/iet-cta.2019.1363

Cited by 29 publications

(15 citation statements)

References 34 publications

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“…The improved ESO in the ADRC can estimate these perturbations and compensate by the non-linear feedback control law. Additionally, reference [20] designed a feedback controller in the ADRC to eliminate the unmeasurable and external perturbations; this improved state feedback controller also ensures accurate trajectory tracking in the UAV system. Therefore, it is better to apply the ADRC to enhance the path tracking in buoy inspection.…”

Section: Related Workmentioning

confidence: 99%

Maritime Buoyage Inspection System Based on an Unmanned Aerial Vehicle and Active Disturbance Rejection Control

Sheng

et al. 2021

IEEE Access

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The unmanned aerial vehicle (UAV) is inexpensive and offers a fast response speed and robust flexibility; thus, it is a promising tool in the maritime buoyage inspection scenario, which involves monitoring and accessing a lateral mark system far away from the coast. However, two main problems can occur during inspection. The first is extreme weather conditions, resulting in a deviation between the inspection route and the design route. The second is that the buoyage beacons are visited only once. Therefore, this article proposes a buoyage inspection system consisting of a single UAV and random coastal buoys. The UAV automatically takes off from the depot, performs a self-check on the buoy beacons, and then returns to the depot. A cascade active disturbance rejection controller (ADRC) is designed to adjust the real-time trajectory of the UAV system. A feasible trajectory planning method is also designed based on the continuous Hopfield neural network (CHNN) and genetic algorithm (GA) to minimize the inspection distance. Extensive simulations are conducted to demonstrate the effectiveness of the proposed method.

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Section: Related Workmentioning

confidence: 99%

Maritime Buoyage Inspection System Based on an Unmanned Aerial Vehicle and Active Disturbance Rejection Control

Sheng

et al. 2021

IEEE Access

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“…Numerous studies have been carried out to counter or reject their effects while ensuring stability in the dynamic system. One promising method is to use an ADRC strategy such as the work done in [172] where the study proposed a robust tracking control unit based on the ADRC and flatness theory with ESO to improve the tracking performance of a quadcopter model. The results showed the efficiency of the proposed control strategy in rejecting the external disturbances and uncertainties.…”

Section: External Disturbancesmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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“…To satisfy the sliding mode condition SṠ < 0, limits has to be set on K 1 and K 2 such as K 1 >0 and K 2 >0. By equating the proposed reaching law (25) to the derivative of the sliding surface in (24) and substitutingφ by its definition from (16), the control input U 2 is calculated to be, Also following the same procedure as for Pitch, Yaw and Altitude controller have been developed.…”

Section: )mentioning

confidence: 99%

“…Active disturbance rejection control based on flatness for robust tracking control has been implemented. Firstly, after linearization, an extended state observer is introduced to estimate the unknown state by neglecting nonlinear terms [24]. Recently a trend, that double-loop control technique has been developed for two subsystems of quadrotors.…”

Section: Introductionmentioning

confidence: 99%

Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor

et al. 2020

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In this paper, an Improved Integral Power Rate Exponential Reaching Law (IIPRERL) Sliding Mode Control strategy has been presented to cater to the chattering problem and stability issue with the focusing on to achieve minimum steady-state errors in the presence of matched disturbances for a quadrotor. Control strategies have been implemented on quadrotor which is 6 Degree of Freedom (DOF) underactuated model and it is derived via Newton-Euler(NE) equations. The main focus of this article is to design two flight control strategies for a quadrotor. Firstly, a novel IIPRERL-SMC is designed through Improved Integral Sliding Mode Control (II-SMC) via proper gain scheduling by system Eigenvalues. The control objective is to construct a controller such that would force the state trajectories to approach the sliding surface with an exponential policy. Meanwhile, a strong condition for reaching the law of sliding surface via Hurwitz stability has been introduced to the hovering of the quadrotor. Secondly, kinodynamic Rapidly Exploring Random Tree with Fixed Node (RRT*FN) which is an incremental sampling-based optimal algorithm has been implemented for online navigation and flight control of the quadrotor system. Online planning which is based on the offline one, is given on-board radar readings which gradually produces a smooth 3-D trajectory aiming at reaching a predetermined target in an unknown environment. The performance and stability of the quadrotor are completely examined by utilizing Lyapunov stability analysis. Simulations are presented to verify that the proposed scheme is effective with Hurwitz stability for both translational and rotational parts of the quadrotor.

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Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Cited by 29 publications

References 34 publications

Maritime Buoyage Inspection System Based on an Unmanned Aerial Vehicle and Active Disturbance Rejection Control

Maritime Buoyage Inspection System Based on an Unmanned Aerial Vehicle and Active Disturbance Rejection Control

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Variants of the Sliding Mode Control in Presence of External Disturbance for Quadrotor

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