Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control
This study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter’s dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach inc...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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PeerJ Inc.
2024-02-01
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| Series: | PeerJ Computer Science |
| Subjects: | |
| Online Access: | https://peerj.com/articles/cs-1861.pdf |
| _version_ | 1797305557008252928 |
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| author | Siyu Ren Liuping Wang Robin Ping Guan |
| author_facet | Siyu Ren Liuping Wang Robin Ping Guan |
| author_sort | Siyu Ren |
| collection | DOAJ |
| description | This study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter’s dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach incorporates the disturbance model into the system by introducing it at the input variables. It then compensates for disturbances to achieve accurate tracking of different reference trajectories. The simulated trajectories span a range of motion, varying from simple straight paths to complex spiral paths. In order to verify and evaluate the efficacy of the suggested control technique, simulations are performed using MATLAB. The simulations conclusively show that the disturbance observer-based method effectively achieves the tracking of specified reference trajectories in three-dimensional space. The study highlights the effectiveness of the DOBC algorithm in reducing the effects of disturbances and uncertainties, thereby improving the quadcopter’s capacity to accurately track various trajectories. |
| first_indexed | 2024-03-08T00:28:36Z |
| format | Article |
| id | doaj.art-4f1ba610db74456694f3a5c6578b65e9 |
| institution | Directory Open Access Journal |
| issn | 2376-5992 |
| language | English |
| last_indexed | 2024-03-08T00:28:36Z |
| publishDate | 2024-02-01 |
| publisher | PeerJ Inc. |
| record_format | Article |
| series | PeerJ Computer Science |
| spelling | doaj.art-4f1ba610db74456694f3a5c6578b65e92024-02-15T15:05:06ZengPeerJ Inc.PeerJ Computer Science2376-59922024-02-0110e186110.7717/peerj-cs.1861Enhanced trajectory tracking for quadrotors: disturbance observer state feedback controlSiyu Ren0Liuping Wang1Robin Ping Guan2School of Engineering, RMIT University, Melbourne, Victoria, AustraliaSchool of Engineering, RMIT University, Melbourne, Victoria, AustraliaSchool of Engineering, RMIT University, Melbourne, Victoria, AustraliaThis study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter’s dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach incorporates the disturbance model into the system by introducing it at the input variables. It then compensates for disturbances to achieve accurate tracking of different reference trajectories. The simulated trajectories span a range of motion, varying from simple straight paths to complex spiral paths. In order to verify and evaluate the efficacy of the suggested control technique, simulations are performed using MATLAB. The simulations conclusively show that the disturbance observer-based method effectively achieves the tracking of specified reference trajectories in three-dimensional space. The study highlights the effectiveness of the DOBC algorithm in reducing the effects of disturbances and uncertainties, thereby improving the quadcopter’s capacity to accurately track various trajectories.https://peerj.com/articles/cs-1861.pdfQuadcopter mathematical modelPredictive controlInput disturbance compensationDisturbance observer |
| spellingShingle | Siyu Ren Liuping Wang Robin Ping Guan Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control PeerJ Computer Science Quadcopter mathematical model Predictive control Input disturbance compensation Disturbance observer |
| title | Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control |
| title_full | Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control |
| title_fullStr | Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control |
| title_full_unstemmed | Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control |
| title_short | Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control |
| title_sort | enhanced trajectory tracking for quadrotors disturbance observer state feedback control |
| topic | Quadcopter mathematical model Predictive control Input disturbance compensation Disturbance observer |
| url | https://peerj.com/articles/cs-1861.pdf |
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