Trajectory tracking of a quadrotor with disturbance rejection using extended state observer

The presence of external disturbances such as wind may affect the stability of a quadrotor during flight. This paper proposes a robust autonomous flight control of a feedback linearized quadrotor model with the presence of external disturbances by using the active anti-disturbance control (AADC) tec...

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Main Authors: Lazim, I. M., Ramli, L., Husain, A. R., Noordin, A., Sahrim, M., Faudzi, A. L. M.
Format: Conference or Workshop Item
Language:English
Published: 2021
Subjects:
Online Access:http://eprints.utm.my/95751/1/AbdulRashidHusain2021_TrajectoryTrackingofaQuadrotor.pdf
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author Lazim, I. M.
Ramli, L.
Husain, A. R.
Noordin, A.
Sahrim, M.
Faudzi, A. L. M.
author_facet Lazim, I. M.
Ramli, L.
Husain, A. R.
Noordin, A.
Sahrim, M.
Faudzi, A. L. M.
author_sort Lazim, I. M.
collection ePrints
description The presence of external disturbances such as wind may affect the stability of a quadrotor during flight. This paper proposes a robust autonomous flight control of a feedback linearized quadrotor model with the presence of external disturbances by using the active anti-disturbance control (AADC) technique. In the inner-loop control, the feedback linearization technique is used to simplify the nonlinear and under-actuated quadrotor dynamics into the corresponding linear representation. In the outer-loop control, the AADC technique using extended state observer (ESO) and state feedback is proposed for trajectory tracking and disturbance rejection control of the quadrotor, respectively. Here, ESO estimates the external disturbances by using only the output of the system. To evaluate the effectiveness of the proposed controller, simulations of the quadrotor were carried in which the results obtained show the advantage of the proposed control algorithm for hovering and trajectory tracking of the quadrotor.
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spelling utm.eprints-957512022-05-31T13:18:40Z http://eprints.utm.my/95751/ Trajectory tracking of a quadrotor with disturbance rejection using extended state observer Lazim, I. M. Ramli, L. Husain, A. R. Noordin, A. Sahrim, M. Faudzi, A. L. M. TK Electrical engineering. Electronics Nuclear engineering The presence of external disturbances such as wind may affect the stability of a quadrotor during flight. This paper proposes a robust autonomous flight control of a feedback linearized quadrotor model with the presence of external disturbances by using the active anti-disturbance control (AADC) technique. In the inner-loop control, the feedback linearization technique is used to simplify the nonlinear and under-actuated quadrotor dynamics into the corresponding linear representation. In the outer-loop control, the AADC technique using extended state observer (ESO) and state feedback is proposed for trajectory tracking and disturbance rejection control of the quadrotor, respectively. Here, ESO estimates the external disturbances by using only the output of the system. To evaluate the effectiveness of the proposed controller, simulations of the quadrotor were carried in which the results obtained show the advantage of the proposed control algorithm for hovering and trajectory tracking of the quadrotor. 2021 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/95751/1/AbdulRashidHusain2021_TrajectoryTrackingofaQuadrotor.pdf Lazim, I. M. and Ramli, L. and Husain, A. R. and Noordin, A. and Sahrim, M. and Faudzi, A. L. M. (2021) Trajectory tracking of a quadrotor with disturbance rejection using extended state observer. In: 2020 IEEE Asia-Pacific Conference on Computer Science and Data Engineering, CSDE 2020, 16 December 2020 - 18 December 2020, Gold Coast. http://dx.doi.org/10.1109/CSDE50874.2020.9411639
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Lazim, I. M.
Ramli, L.
Husain, A. R.
Noordin, A.
Sahrim, M.
Faudzi, A. L. M.
Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title_full Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title_fullStr Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title_full_unstemmed Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title_short Trajectory tracking of a quadrotor with disturbance rejection using extended state observer
title_sort trajectory tracking of a quadrotor with disturbance rejection using extended state observer
topic TK Electrical engineering. Electronics Nuclear engineering
url http://eprints.utm.my/95751/1/AbdulRashidHusain2021_TrajectoryTrackingofaQuadrotor.pdf
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