Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load
This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificial control in order to propose new auxiliary contro...
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| Format: | Article |
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MDPI AG
2022-07-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/7/595 |
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| author | Cesar Alejandro Villaseñor Rios Alberto Luviano-Juárez Norma Beatriz Lozada-Castillo Blanca Esther Carvajal-Gámez Dante Mújica-Vargas Octavio Gutiérrez-Frías |
| author_facet | Cesar Alejandro Villaseñor Rios Alberto Luviano-Juárez Norma Beatriz Lozada-Castillo Blanca Esther Carvajal-Gámez Dante Mújica-Vargas Octavio Gutiérrez-Frías |
| author_sort | Cesar Alejandro Villaseñor Rios |
| collection | DOAJ |
| description | This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificial control in order to propose new auxiliary control inputs. This is achieved by a linear extended state observer-based active disturbance rejection control to reject both nonmodeled dynamics and external disturbances. The flying planar inverted pendulum is then linearized around an unstable equilibrium point, and the resulting system is subdivided into two subsystems: (1) the height system, and (2) the horizontal pendulum system. For the height system, a linear extended state observer-based active disturbance rejection control is proposed in order to accomplish a take-off and landing task in the presence of external disturbances and non-linearities neglected in the linearization process. The flatness property in the horizontal-pendulum system is exploited in order to propose another active disturbance rejection control of linear nature. The flatness of the tangentially linearized model provides a unique structural property that results in an advantageous low-order cascade decomposition of the linear extended state observer design. Numerical simulations show the effectiveness of the proposed control scheme in trajectory tracking tasks in the presence of disturbances caused by crosswinds with random amplitudes. |
| first_indexed | 2024-03-09T06:18:14Z |
| format | Article |
| id | doaj.art-e454821dcc334ca885ac720604784235 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T06:18:14Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-e454821dcc334ca885ac7206047842352023-12-03T11:51:21ZengMDPI AGMachines2075-17022022-07-0110759510.3390/machines10070595Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular LoadCesar Alejandro Villaseñor Rios0Alberto Luviano-Juárez1Norma Beatriz Lozada-Castillo2Blanca Esther Carvajal-Gámez3Dante Mújica-Vargas4Octavio Gutiérrez-Frías5Instituto Politécnico Nacional, Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Mexico City 07340, MexicoInstituto Politécnico Nacional, Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Mexico City 07340, MexicoInstituto Politécnico Nacional, Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Mexico City 07340, MexicoInstituto Politécnico Nacional, Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Mexico City 07340, MexicoTecNM-CENIDET, Cuernavaca 62490, Morelos, MexicoInstituto Politécnico Nacional, Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Mexico City 07340, MexicoThis paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificial control in order to propose new auxiliary control inputs. This is achieved by a linear extended state observer-based active disturbance rejection control to reject both nonmodeled dynamics and external disturbances. The flying planar inverted pendulum is then linearized around an unstable equilibrium point, and the resulting system is subdivided into two subsystems: (1) the height system, and (2) the horizontal pendulum system. For the height system, a linear extended state observer-based active disturbance rejection control is proposed in order to accomplish a take-off and landing task in the presence of external disturbances and non-linearities neglected in the linearization process. The flatness property in the horizontal-pendulum system is exploited in order to propose another active disturbance rejection control of linear nature. The flatness of the tangentially linearized model provides a unique structural property that results in an advantageous low-order cascade decomposition of the linear extended state observer design. Numerical simulations show the effectiveness of the proposed control scheme in trajectory tracking tasks in the presence of disturbances caused by crosswinds with random amplitudes.https://www.mdpi.com/2075-1702/10/7/595underactuated systemsinverted pendulumunmanned aerial vehicleactive disturbance rejection controlnonlinear controlrobust control |
| spellingShingle | Cesar Alejandro Villaseñor Rios Alberto Luviano-Juárez Norma Beatriz Lozada-Castillo Blanca Esther Carvajal-Gámez Dante Mújica-Vargas Octavio Gutiérrez-Frías Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load Machines underactuated systems inverted pendulum unmanned aerial vehicle active disturbance rejection control nonlinear control robust control |
| title | Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load |
| title_full | Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load |
| title_fullStr | Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load |
| title_full_unstemmed | Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load |
| title_short | Flatness-Based Active Disturbance Rejection Control for a PVTOL Aircraft System with an Inverted Pendular Load |
| title_sort | flatness based active disturbance rejection control for a pvtol aircraft system with an inverted pendular load |
| topic | underactuated systems inverted pendulum unmanned aerial vehicle active disturbance rejection control nonlinear control robust control |
| url | https://www.mdpi.com/2075-1702/10/7/595 |
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