Tracking control and disturbance rejection of micro quadrotor via adaptive internal model
In this paper, to achieve attitude tracking and disturbance rejection of micro quodrotor in the presence of uncertain external disturbances, the output regulation technique is utilized. First of all, the model that established regarding micro quadrotor is transformed to a stabilization problem of th...
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| Format: | Article |
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Taylor & Francis Group
2024-12-01
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| Series: | Systems Science & Control Engineering |
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| Online Access: | https://www.tandfonline.com/doi/10.1080/21642583.2024.2313322 |
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| author | Bing Dai Guizhi Meng |
| author_facet | Bing Dai Guizhi Meng |
| author_sort | Bing Dai |
| collection | DOAJ |
| description | In this paper, to achieve attitude tracking and disturbance rejection of micro quodrotor in the presence of uncertain external disturbances, the output regulation technique is utilized. First of all, the model that established regarding micro quadrotor is transformed to a stabilization problem of the second-order augmented system by employing the internal model. Second, an adaptive internal model is designed via exosystem information. The nonlinear unknown functions of the system are approximated by fuzzy logic systems, and the fuzzy adaptive laws are designed to tackle the uncertainty parameters. Then the new adaptive fuzzy state controllers and adaptive control laws are proposed by combining the backstepping technique and the adaptive control method. Unlike the traditional controller design method, the proposed controllers and adaptive control laws are designed respectively for roll angle, pitch angle, yaw angle and the height of the four-channel helicopter. Moreover, the new algorithm can perform well in attitude tracking and disturbance rejection of the closed-loop systems. Finally simulation results have demonstrated the effectiveness of the proposed approach. |
| format | Article |
| id | doaj-art-097119c795be4ee9875acee8619c3158 |
| institution | DOAJ |
| issn | 2164-2583 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Systems Science & Control Engineering |
| spelling | doaj-art-097119c795be4ee9875acee8619c31582025-08-20T02:49:30ZengTaylor & Francis GroupSystems Science & Control Engineering2164-25832024-12-0112110.1080/21642583.2024.2313322Tracking control and disturbance rejection of micro quadrotor via adaptive internal modelBing Dai0Guizhi Meng1Engineering School, Harbin University, Harbin, People’s Republic of ChinaSchool of Science, Harbin University of Science and Technology, Harbin, People’s Republic of ChinaIn this paper, to achieve attitude tracking and disturbance rejection of micro quodrotor in the presence of uncertain external disturbances, the output regulation technique is utilized. First of all, the model that established regarding micro quadrotor is transformed to a stabilization problem of the second-order augmented system by employing the internal model. Second, an adaptive internal model is designed via exosystem information. The nonlinear unknown functions of the system are approximated by fuzzy logic systems, and the fuzzy adaptive laws are designed to tackle the uncertainty parameters. Then the new adaptive fuzzy state controllers and adaptive control laws are proposed by combining the backstepping technique and the adaptive control method. Unlike the traditional controller design method, the proposed controllers and adaptive control laws are designed respectively for roll angle, pitch angle, yaw angle and the height of the four-channel helicopter. Moreover, the new algorithm can perform well in attitude tracking and disturbance rejection of the closed-loop systems. Finally simulation results have demonstrated the effectiveness of the proposed approach.https://www.tandfonline.com/doi/10.1080/21642583.2024.2313322Output regulationadaptive internal modelbackstepping techniqueLyapunov method |
| spellingShingle | Bing Dai Guizhi Meng Tracking control and disturbance rejection of micro quadrotor via adaptive internal model Systems Science & Control Engineering Output regulation adaptive internal model backstepping technique Lyapunov method |
| title | Tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| title_full | Tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| title_fullStr | Tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| title_full_unstemmed | Tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| title_short | Tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| title_sort | tracking control and disturbance rejection of micro quadrotor via adaptive internal model |
| topic | Output regulation adaptive internal model backstepping technique Lyapunov method |
| url | https://www.tandfonline.com/doi/10.1080/21642583.2024.2313322 |
| work_keys_str_mv | AT bingdai trackingcontrolanddisturbancerejectionofmicroquadrotorviaadaptiveinternalmodel AT guizhimeng trackingcontrolanddisturbancerejectionofmicroquadrotorviaadaptiveinternalmodel |