Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment
In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/8850071 |
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| _version_ | 1832558441760030720 |
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| author | Li Ding Qing He Chengjun Wang Rongzhi Qi |
| author_facet | Li Ding Qing He Chengjun Wang Rongzhi Qi |
| author_sort | Li Ding |
| collection | DOAJ |
| description | In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller. |
| format | Article |
| id | doaj-art-36a96aba1fff4a67b25f335caeb323e0 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-36a96aba1fff4a67b25f335caeb323e02025-02-03T01:32:23ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/88500718850071Disturbance Rejection Attitude Control for a Quadrotor: Theory and ExperimentLi Ding0Qing He1Chengjun Wang2Rongzhi Qi3Anhui Key Laboratory of Mine Intelligent Equipment and Technology, Anhui University of Science & Technology, Huainan 232001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213000, ChinaAnhui Key Laboratory of Mine Intelligent Equipment and Technology, Anhui University of Science & Technology, Huainan 232001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213000, ChinaIn this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.http://dx.doi.org/10.1155/2021/8850071 |
| spellingShingle | Li Ding Qing He Chengjun Wang Rongzhi Qi Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment International Journal of Aerospace Engineering |
| title | Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment |
| title_full | Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment |
| title_fullStr | Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment |
| title_full_unstemmed | Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment |
| title_short | Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment |
| title_sort | disturbance rejection attitude control for a quadrotor theory and experiment |
| url | http://dx.doi.org/10.1155/2021/8850071 |
| work_keys_str_mv | AT liding disturbancerejectionattitudecontrolforaquadrotortheoryandexperiment AT qinghe disturbancerejectionattitudecontrolforaquadrotortheoryandexperiment AT chengjunwang disturbancerejectionattitudecontrolforaquadrotortheoryandexperiment AT rongzhiqi disturbancerejectionattitudecontrolforaquadrotortheoryandexperiment |