Abstract
This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.
Highlights
Quadrotor unmanned aerial vehicle (UAV) is an underactuated system, which has some advantages such as vertical takeoff and landing, autonomous hovering, high energy efficiency [13], autonomous control, etc
The sliding mode active disturbance rejection control (ADRC) scheme is designed for the quadrotor UAV in this paper
The differential signal of the reference trajectory can be obtained directly by using tracking differentiator (TD), the estimated values of the quadrotor’s velocities, angular velocities, total disturbance can be acquired by extended state observer (ESO), and the total disturbance of the system can be compensated in the sliding mode controller
Summary
Quadrotor UAV is an underactuated system, which has some advantages such as vertical takeoff and landing, autonomous hovering, high energy efficiency [13], autonomous control, etc. ADRC is a control method that does not depend on accurate system model, it has fast tracking speed, high control precision and strong anti-disturbance ability, it has been widely used in many theoretical researches, experiments and engineering applications. A sliding mode active disturbance rejection control strategy is proposed to deal with some difficult control problems in the quadrotor unmanned aerial vehicle system such as nonlinearity, strong coupling and sensitive to disturbance. This control method neither depend on precise mathematical models nor require knowledge of the upper bounds of uncertainties, it can solve the difficulty of flight control, and can eliminate the complicated external interference and get good flight performance.
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