Filtered Observer-Based IDA-PBC Control for Trajectory Tracking of a Quadrotor

Maria-Eusebia Guerrero-Sanchez,Guillermo Valencia-Palomo,Francisco-Ronay Lopez-Estrada,Omar Hernandez-Gonzalez,Abraham-Efraim Rodriguez-Mata,Javier Garrido

doi:10.1109/access.2021.3104798

Abstract

In this paper, a new filtered observer-based IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) strategy is developed for trajectory tracking of a quadrotor in the presence of disturbances and model uncertainties. The proposed algorithm allows the control of the quadrotor in all its states. It can deal with the noisy output measurements and uncertainties in the translational and rotational dynamics, as unmodeled dynamics inherent to real systems or unknown external signals (exogenous signals). The designed filtered observer estimates the state from noisy output measurements, and it depends only on two design parameters. Numerical simulation tests are carried out to highlight the overall controller approach in a realistic scenario.

Highlights

Quadrotors are widely used in everyday life, they have been used in many applications, e.g., surveillance, photography, transport of packages, agriculture, rescue, etc, [1], [2]
Motivated by the aforementioned works, in this paper, we offer an alternative approach for trajectory tracking of a quadrotor in the presence of measurement noise and uncertainty in the states by using an observer-based IDA-PBC strategy
A simple and cost-effective way to obtain the position ν of the quadrotor is to use a Global Positioning System (GPS), in addition, the yaw angle ψ can be obtained from a digital compass

Summary

Introduction

Quadrotors are widely used in everyday life, they have been used in many applications, e.g., surveillance, photography, transport of packages, agriculture, rescue, etc, [1], [2]. For the control of quadrotors, it is necessary to have specific characteristics of smoothness in both control signals and sensors, for this has been used innumerable techniques using filters [3], [4]. The use and research of observers for state estimation, perturbations, and the calculation of output controllers in drones is still very active, e.g., [5]–[8]. Given the complexity and its enormous applications, this research is still open [9]–[12]. To the best of our knowledge, there are few works oriented to the use of the novel filtered observers to applications in drones or quadrotors as [13]

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