Control robusto de la actitud para el seguimiento de trayectoria de un VANT

Abstract

This paper proposes a robust attitude tracking control applied to Vertical Take-off and Landing Micro Aerial Vehicles (VANT) based on Active Disturbance Rejection Control (ADRC) approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, which is estimated online via extended state observer (ESO). Once the disturbance is determined, a quaternion-based controller is proposed, which compensates and relieves the disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators. The stability proof of the closed-loop (observer and control) is guaranteed in the ISS sense. The simulation results allow validating the theoretical features.