Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance
This study proposes an event-triggered fault-tolerant active disturbance rejection control (ADRC) method for variable-load quadrotors with prescribed performance. The quadrotor, as a nonlinear and underactuated system, faces challenges such as payload variations, actuator faults, and external distur...
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MDPI AG
2025-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/13/7021 |
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| author | Zhichen Li Qiaoran Wang Huaicheng Yan |
| author_facet | Zhichen Li Qiaoran Wang Huaicheng Yan |
| author_sort | Zhichen Li |
| collection | DOAJ |
| description | This study proposes an event-triggered fault-tolerant active disturbance rejection control (ADRC) method for variable-load quadrotors with prescribed performance. The quadrotor, as a nonlinear and underactuated system, faces challenges such as payload variations, actuator faults, and external disturbances, which degrade trajectory tracking accuracy and stability. The proposed approach integrates a cascaded ADRC framework, decoupling the system into position and velocity subsystems, each equipped with extended state observers (ESOs) for real-time disturbance estimation and compensation. To enhance robustness, prescribed performance functions dynamically constrain tracking errors within predefined bounds, while event-triggered mechanisms reduce computational load through condition-based updates of control signals. Additionally, a particle swarm optimization (PSO) algorithm is employed for online parameter tuning, improving adaptability. Theoretical analysis confirms the system stability, and simulation results demonstrate the controller effectiveness in handling actuator faults and variable payloads, ensuring accurate trajectory tracking and reduced resource consumption. The method offers a promising solution for robust and efficient quadrotor control in complex environments. |
| format | Article |
| id | doaj-art-3f1d40144ccb4d44b8e4ed00b010e07e |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-3f1d40144ccb4d44b8e4ed00b010e07e2025-08-20T03:28:24ZengMDPI AGApplied Sciences2076-34172025-06-011513702110.3390/app15137021Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed PerformanceZhichen Li0Qiaoran Wang1Huaicheng Yan2Key Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education, East China University of Science and Technology, Shanghai 200237, ChinaKey Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education, East China University of Science and Technology, Shanghai 200237, ChinaKey Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education, East China University of Science and Technology, Shanghai 200237, ChinaThis study proposes an event-triggered fault-tolerant active disturbance rejection control (ADRC) method for variable-load quadrotors with prescribed performance. The quadrotor, as a nonlinear and underactuated system, faces challenges such as payload variations, actuator faults, and external disturbances, which degrade trajectory tracking accuracy and stability. The proposed approach integrates a cascaded ADRC framework, decoupling the system into position and velocity subsystems, each equipped with extended state observers (ESOs) for real-time disturbance estimation and compensation. To enhance robustness, prescribed performance functions dynamically constrain tracking errors within predefined bounds, while event-triggered mechanisms reduce computational load through condition-based updates of control signals. Additionally, a particle swarm optimization (PSO) algorithm is employed for online parameter tuning, improving adaptability. Theoretical analysis confirms the system stability, and simulation results demonstrate the controller effectiveness in handling actuator faults and variable payloads, ensuring accurate trajectory tracking and reduced resource consumption. The method offers a promising solution for robust and efficient quadrotor control in complex environments.https://www.mdpi.com/2076-3417/15/13/7021active disturbance rejection controlparticle swarm optimization algorithmvariable-load quadrotortrajectory tracking controlevent triggeredfault tolerant |
| spellingShingle | Zhichen Li Qiaoran Wang Huaicheng Yan Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance Applied Sciences active disturbance rejection control particle swarm optimization algorithm variable-load quadrotor trajectory tracking control event triggered fault tolerant |
| title | Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance |
| title_full | Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance |
| title_fullStr | Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance |
| title_full_unstemmed | Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance |
| title_short | Event-Triggered Fault-Tolerant ADRC for Variable-Load Quadrotor with Prescribed Performance |
| title_sort | event triggered fault tolerant adrc for variable load quadrotor with prescribed performance |
| topic | active disturbance rejection control particle swarm optimization algorithm variable-load quadrotor trajectory tracking control event triggered fault tolerant |
| url | https://www.mdpi.com/2076-3417/15/13/7021 |
| work_keys_str_mv | AT zhichenli eventtriggeredfaulttolerantadrcforvariableloadquadrotorwithprescribedperformance AT qiaoranwang eventtriggeredfaulttolerantadrcforvariableloadquadrotorwithprescribedperformance AT huaichengyan eventtriggeredfaulttolerantadrcforvariableloadquadrotorwithprescribedperformance |