Adaptive robust anti-disturbance attitude control for quadrotors
The high-performance attitude controller can effectively suppress comprehensive effects caused by uncertainties and external dynamic disturbances，and ensure that the quadrotor can safely and reliably fly to complete the designated mission. Therefore，nonlinear uncertainties of quadrotor flight system...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Advances in Aeronautical Science and Engineering
2025-02-01
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| Series: | Hangkong gongcheng jinzhan |
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| Online Access: | http://hkgcjz.cnjournals.com/hkgcjz/article/abstract/2023083 |
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| author | LI Tongshuai CHEN Longsheng PENG Yun SHI Tongxin JIN Feiyu |
| author_facet | LI Tongshuai CHEN Longsheng PENG Yun SHI Tongxin JIN Feiyu |
| author_sort | LI Tongshuai |
| collection | DOAJ |
| description | The high-performance attitude controller can effectively suppress comprehensive effects caused by uncertainties and external dynamic disturbances，and ensure that the quadrotor can safely and reliably fly to complete the designated mission. Therefore，nonlinear uncertainties of quadrotor flight systems are approximated by a radial basis function neural network（RBFNN）quadrotor，and an extended state observer（ESO）is designed to estimate lumped disturbances caused by RBFNN approximation errors and external disturbances. The black box problem of RBFNN is solved by using a model identification error and a tracking error as decision variables. Then，an adaptive robust anti-disturbance attitude tracking controller is designed for quadrotor flight systems based on dynamic surface control and Lyapunov stability theory，and an auxiliary system is constructed to suppress the effect of filtering error on the closed-loop system performance. The results show that the quadrotor designed in this paper can precisely track the desired attitude angles，and the proposed controller has strong robustness and stability in the presence of uncertainties and disturbances. |
| format | Article |
| id | doaj-art-abb7ddaedb7c46d0a9465fac1efdf920 |
| institution | DOAJ |
| issn | 1674-8190 |
| language | zho |
| publishDate | 2025-02-01 |
| publisher | Editorial Department of Advances in Aeronautical Science and Engineering |
| record_format | Article |
| series | Hangkong gongcheng jinzhan |
| spelling | doaj-art-abb7ddaedb7c46d0a9465fac1efdf9202025-08-20T03:16:19ZzhoEditorial Department of Advances in Aeronautical Science and EngineeringHangkong gongcheng jinzhan1674-81902025-02-01161546310.16615/j.cnki.1674-8190.2025.01.0710.16615/j.cnki.1674-8190.2025.01.07Adaptive robust anti-disturbance attitude control for quadrotorsLI Tongshuai0CHEN Longsheng1PENG Yun2SHI Tongxin3JIN Feiyu4School of Aeronautics and Astronautics, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aeronautics and Astronautics, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aeronautics and Astronautics, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aeronautics and Astronautics, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aeronautics and Astronautics, Nanchang Hangkong University, Nanchang 330063, ChinaThe high-performance attitude controller can effectively suppress comprehensive effects caused by uncertainties and external dynamic disturbances，and ensure that the quadrotor can safely and reliably fly to complete the designated mission. Therefore，nonlinear uncertainties of quadrotor flight systems are approximated by a radial basis function neural network（RBFNN）quadrotor，and an extended state observer（ESO）is designed to estimate lumped disturbances caused by RBFNN approximation errors and external disturbances. The black box problem of RBFNN is solved by using a model identification error and a tracking error as decision variables. Then，an adaptive robust anti-disturbance attitude tracking controller is designed for quadrotor flight systems based on dynamic surface control and Lyapunov stability theory，and an auxiliary system is constructed to suppress the effect of filtering error on the closed-loop system performance. The results show that the quadrotor designed in this paper can precisely track the desired attitude angles，and the proposed controller has strong robustness and stability in the presence of uncertainties and disturbances.http://hkgcjz.cnjournals.com/hkgcjz/article/abstract/2023083quadrotordynamic surface controlneural networkextended state observerdisturbance suppression |
| spellingShingle | LI Tongshuai CHEN Longsheng PENG Yun SHI Tongxin JIN Feiyu Adaptive robust anti-disturbance attitude control for quadrotors Hangkong gongcheng jinzhan quadrotor dynamic surface control neural network extended state observer disturbance suppression |
| title | Adaptive robust anti-disturbance attitude control for quadrotors |
| title_full | Adaptive robust anti-disturbance attitude control for quadrotors |
| title_fullStr | Adaptive robust anti-disturbance attitude control for quadrotors |
| title_full_unstemmed | Adaptive robust anti-disturbance attitude control for quadrotors |
| title_short | Adaptive robust anti-disturbance attitude control for quadrotors |
| title_sort | adaptive robust anti disturbance attitude control for quadrotors |
| topic | quadrotor dynamic surface control neural network extended state observer disturbance suppression |
| url | http://hkgcjz.cnjournals.com/hkgcjz/article/abstract/2023083 |
| work_keys_str_mv | AT litongshuai adaptiverobustantidisturbanceattitudecontrolforquadrotors AT chenlongsheng adaptiverobustantidisturbanceattitudecontrolforquadrotors AT pengyun adaptiverobustantidisturbanceattitudecontrolforquadrotors AT shitongxin adaptiverobustantidisturbanceattitudecontrolforquadrotors AT jinfeiyu adaptiverobustantidisturbanceattitudecontrolforquadrotors |