Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance
This paper presents a generic robust controller that allows applications in various quadrotor unmanned aerial vehicle (UAV) systems effectively even when facing severe system uncertainties and unknown external disturbances. The fractional-order linear active disturbance rejection control (FOLADRC) s...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/6/9/229 |
| _version_ | 1797489261006553088 |
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| author | Jia Song Yunlong Hu Jiangcheng Su Mingfei Zhao Shaojie Ai |
| author_facet | Jia Song Yunlong Hu Jiangcheng Su Mingfei Zhao Shaojie Ai |
| author_sort | Jia Song |
| collection | DOAJ |
| description | This paper presents a generic robust controller that allows applications in various quadrotor unmanned aerial vehicle (UAV) systems effectively even when facing severe system uncertainties and unknown external disturbances. The fractional-order linear active disturbance rejection control (FOLADRC) scheme has combined the advantages of the fractional-order PID (FOPID) with the linear active disturbance rejection control (LADRC). Firstly, the structure of the FOLADRC-based quadrotor UAV is designed. Then, considering the difficulty of parameter tuning of FOLADRC and the demand for accuracy and rapidity of the controller, the improved sparrow search algorithm is applied. Finally, to illustrate the robustness and effectiveness of FOLADRC, the FOLADRC-based quadrotor UAV is firstly compared with PID and LADRC. The simulation and experiment results show that the FOLADRC method can suppress the influence of system uncertainties and external disturbance effectively, where the superiority compared to PID and LADRC has been demonstrated clearly. |
| first_indexed | 2024-03-10T00:14:58Z |
| format | Article |
| id | doaj.art-59863d75c87e425982180d05c9ad55bb |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T00:14:58Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-59863d75c87e425982180d05c9ad55bb2023-11-23T15:53:34ZengMDPI AGDrones2504-446X2022-08-016922910.3390/drones6090229Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External DisturbanceJia Song0Yunlong Hu1Jiangcheng Su2Mingfei Zhao3Shaojie Ai4School of Astronautics, Beihang University (BUAA), Beijing 100191, ChinaSchool of Astronautics, Beihang University (BUAA), Beijing 100191, ChinaSchool of Astronautics, Beihang University (BUAA), Beijing 100191, ChinaSchool of Astronautics, Beihang University (BUAA), Beijing 100191, ChinaSchool of Astronautics, Beihang University (BUAA), Beijing 100191, ChinaThis paper presents a generic robust controller that allows applications in various quadrotor unmanned aerial vehicle (UAV) systems effectively even when facing severe system uncertainties and unknown external disturbances. The fractional-order linear active disturbance rejection control (FOLADRC) scheme has combined the advantages of the fractional-order PID (FOPID) with the linear active disturbance rejection control (LADRC). Firstly, the structure of the FOLADRC-based quadrotor UAV is designed. Then, considering the difficulty of parameter tuning of FOLADRC and the demand for accuracy and rapidity of the controller, the improved sparrow search algorithm is applied. Finally, to illustrate the robustness and effectiveness of FOLADRC, the FOLADRC-based quadrotor UAV is firstly compared with PID and LADRC. The simulation and experiment results show that the FOLADRC method can suppress the influence of system uncertainties and external disturbance effectively, where the superiority compared to PID and LADRC has been demonstrated clearly.https://www.mdpi.com/2504-446X/6/9/229fractional-order linear active disturbance rejection controlrobustnesscontrol performancequadrotor unmanned aerial vehicle |
| spellingShingle | Jia Song Yunlong Hu Jiangcheng Su Mingfei Zhao Shaojie Ai Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance Drones fractional-order linear active disturbance rejection control robustness control performance quadrotor unmanned aerial vehicle |
| title | Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance |
| title_full | Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance |
| title_fullStr | Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance |
| title_full_unstemmed | Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance |
| title_short | Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance |
| title_sort | fractional order linear active disturbance rejection control design and optimization based improved sparrow search algorithm for quadrotor uav with system uncertainties and external disturbance |
| topic | fractional-order linear active disturbance rejection control robustness control performance quadrotor unmanned aerial vehicle |
| url | https://www.mdpi.com/2504-446X/6/9/229 |
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