Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers | Zendy

JI Xiao-ming | Zendy; Zihui Cai | Zendy

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Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Author(s) -

JI Xiao-ming,

Zihui Cai

Publication year - 2021

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2021/5216472

Subject(s) - control theory (sociology) , computer science , robustness (evolution) , euler angles , active disturbance rejection control , integrator , trajectory , controller (irrigation) , disturbance (geology) , control engineering , control (management) , nonlinear system , artificial intelligence , mathematics , engineering , state observer , computer network , chemistry , bandwidth (computing) , biology , paleontology , biochemistry , geometry , quantum mechanics , agronomy , physics , astronomy , gene

The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.

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