Active disturbance rejection switching control of quadrotor based on robust differentiator
To solve the problem of trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) under white noise disturbance, a new active disturbance rejection control (ADRC), an active disturbance rejection switching control (ADRSC) algorithm of the quadrotor based on a robust differentiator, is...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2020-01-01
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| Series: | Systems Science & Control Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/21642583.2020.1851805 |
| _version_ | 1819143184982212608 |
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| author | Jiawei Zhao Hongli Zhang Xinkai Li |
| author_facet | Jiawei Zhao Hongli Zhang Xinkai Li |
| author_sort | Jiawei Zhao |
| collection | DOAJ |
| description | To solve the problem of trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) under white noise disturbance, a new active disturbance rejection control (ADRC), an active disturbance rejection switching control (ADRSC) algorithm of the quadrotor based on a robust differentiator, is proposed. The dynamic model of the quadrotor is stated in three sub-equations, and a control algorithm is designed. The exact robust differentiator (ERD) replaces the tracking differentiator in the traditional ADRC algorithm to improve the accuracy and robustness of the differential signal. The ADRSC algorithm controls the quadrotor to improve its anti-white-noise disturbance ability and control accuracy. Simulation results show that the quadrotor has an anti-white-noise disturbance ability of no more than 0.1 dB intensity with this algorithm. |
| first_indexed | 2024-12-22T12:22:13Z |
| format | Article |
| id | doaj.art-b92a44017d4d4f3ebc83a0d2e4b47a0f |
| institution | Directory Open Access Journal |
| issn | 2164-2583 |
| language | English |
| last_indexed | 2024-12-22T12:22:13Z |
| publishDate | 2020-01-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Systems Science & Control Engineering |
| spelling | doaj.art-b92a44017d4d4f3ebc83a0d2e4b47a0f2022-12-21T18:25:56ZengTaylor & Francis GroupSystems Science & Control Engineering2164-25832020-01-018160561710.1080/21642583.2020.18518051851805Active disturbance rejection switching control of quadrotor based on robust differentiatorJiawei Zhao0Hongli Zhang1Xinkai Li2Xinjiang UniversityXinjiang UniversityXinjiang UniversityTo solve the problem of trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) under white noise disturbance, a new active disturbance rejection control (ADRC), an active disturbance rejection switching control (ADRSC) algorithm of the quadrotor based on a robust differentiator, is proposed. The dynamic model of the quadrotor is stated in three sub-equations, and a control algorithm is designed. The exact robust differentiator (ERD) replaces the tracking differentiator in the traditional ADRC algorithm to improve the accuracy and robustness of the differential signal. The ADRSC algorithm controls the quadrotor to improve its anti-white-noise disturbance ability and control accuracy. Simulation results show that the quadrotor has an anti-white-noise disturbance ability of no more than 0.1 dB intensity with this algorithm.http://dx.doi.org/10.1080/21642583.2020.1851805quadrotor unmanned aerial vehicle (uav)robust differentiatoractive disturbance rejection control (adrc)trajectory tracking control |
| spellingShingle | Jiawei Zhao Hongli Zhang Xinkai Li Active disturbance rejection switching control of quadrotor based on robust differentiator Systems Science & Control Engineering quadrotor unmanned aerial vehicle (uav) robust differentiator active disturbance rejection control (adrc) trajectory tracking control |
| title | Active disturbance rejection switching control of quadrotor based on robust differentiator |
| title_full | Active disturbance rejection switching control of quadrotor based on robust differentiator |
| title_fullStr | Active disturbance rejection switching control of quadrotor based on robust differentiator |
| title_full_unstemmed | Active disturbance rejection switching control of quadrotor based on robust differentiator |
| title_short | Active disturbance rejection switching control of quadrotor based on robust differentiator |
| title_sort | active disturbance rejection switching control of quadrotor based on robust differentiator |
| topic | quadrotor unmanned aerial vehicle (uav) robust differentiator active disturbance rejection control (adrc) trajectory tracking control |
| url | http://dx.doi.org/10.1080/21642583.2020.1851805 |
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