Abstract
In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a proposed multi-objective Output Performance Index (OPI) is achieved in the MATLAB environment to tune the IADRCs parameters using Genetic Algorithm (GA). The IADRC has been tested for the 6-DOF quadrotor under different tracking scenarios, including disturbance rejection and uncertainties elimination and compared with nonlinear and linear PID controllers. The simulations showed the excellent performance of the proposed compensator against the controllers used in the comparison.
Highlights
The quadrotor is an Unmanned Aerial Vehicle (UAV) that has four motors
Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each Improved Active Disturbance Rejection Control (IADRC) unit and the overall closed-loop system using Hurwitz stability criterion
Another widely used approach is the active disturbance rejection control (ADRC), it makes use of an Extended State Observer (ESO) to estimate the disturbances and uncertainties so that the uncertainties and exogenous disturbance are grouped into a single state called, the “total disturbance” or “generalized disturbance”, which is estimated and cancelled in real-time fashion via the ESO
Summary
The quadrotor is an Unmanned Aerial Vehicle (UAV) that has four motors. Every two motors that are facing each other rotate in the counter-clockwise direction, whereas the other two motors rotate in the opposite direction of the first two motors (clockwise direction). There are a large variety of civil and military applications for quadrotors Some of these applications are in research and education purposes (Belyavskyi, et al, 2017), healthcare (Dhivya and Premkumar, 2017), traffic monitoring (Abdullaha, et al, 2015), and multi-agent applications (Nathan, et al, 2011). Many studies have been done to overcome the disturbances and uncertainties that the quadrotor face during the mission while keeping its motion stable Controllers such as linear PID has been proposed, but the performance was limited (Sahul, et al, 2014). ADRC is a combination of three essential elements: State Error Feedback (SEF) controller, an ESO, and a Tracking Differentiator(TD)
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