Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control
This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Vilnius University Press
2019-06-01
|
| Series: | Nonlinear Analysis |
| Subjects: | |
| Online Access: | http://www.zurnalai.vu.lt/nonlinear-analysis/article/view/12961 |
| _version_ | 1818384456463941632 |
|---|---|
| author | Yong Zhang Zengqiang Chen Mingwei Sun Xinghui Zhang |
| author_facet | Yong Zhang Zengqiang Chen Mingwei Sun Xinghui Zhang |
| author_sort | Yong Zhang |
| collection | DOAJ |
| description | This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately. |
| first_indexed | 2024-12-14T03:22:33Z |
| format | Article |
| id | doaj.art-d5d6e52de35e4e919abaf8c2cf10af4f |
| institution | Directory Open Access Journal |
| issn | 1392-5113 2335-8963 |
| language | English |
| last_indexed | 2024-12-14T03:22:33Z |
| publishDate | 2019-06-01 |
| publisher | Vilnius University Press |
| record_format | Article |
| series | Nonlinear Analysis |
| spelling | doaj.art-d5d6e52de35e4e919abaf8c2cf10af4f2022-12-21T23:18:59ZengVilnius University PressNonlinear Analysis1392-51132335-89632019-06-0124410.15388/NA.2019.4.4Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection controlYong Zhang0Zengqiang Chen1Mingwei Sun2Xinghui Zhang3Nankai UniversityNankai UniversityNankai UniversityTianjin Sino-German University of Applied SciencesThis paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.http://www.zurnalai.vu.lt/nonlinear-analysis/article/view/12961sliding mode controlactive disturbance rejection control (ADRC)extended state observer (ESO)quadrotor UAVtrajectory tracking control |
| spellingShingle | Yong Zhang Zengqiang Chen Mingwei Sun Xinghui Zhang Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control Nonlinear Analysis sliding mode control active disturbance rejection control (ADRC) extended state observer (ESO) quadrotor UAV trajectory tracking control |
| title | Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control |
| title_full | Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control |
| title_fullStr | Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control |
| title_full_unstemmed | Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control |
| title_short | Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control |
| title_sort | trajectory tracking control of a quadrotor uav based on sliding mode active disturbance rejection control |
| topic | sliding mode control active disturbance rejection control (ADRC) extended state observer (ESO) quadrotor UAV trajectory tracking control |
| url | http://www.zurnalai.vu.lt/nonlinear-analysis/article/view/12961 |
| work_keys_str_mv | AT yongzhang trajectorytrackingcontrolofaquadrotoruavbasedonslidingmodeactivedisturbancerejectioncontrol AT zengqiangchen trajectorytrackingcontrolofaquadrotoruavbasedonslidingmodeactivedisturbancerejectioncontrol AT mingweisun trajectorytrackingcontrolofaquadrotoruavbasedonslidingmodeactivedisturbancerejectioncontrol AT xinghuizhang trajectorytrackingcontrolofaquadrotoruavbasedonslidingmodeactivedisturbancerejectioncontrol |