scholarly journals Anti-Disturbance Compensator Design for Unmanned Aerial Vehicle

2019 ◽  
Vol 26 (1) ◽  
pp. 86-103 ◽  
Author(s):  
Ibraheem Kasim Ibraheem
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Pid Controllers ◽  
Hurwitz Stability ◽  
Output Performance ◽  
Disturbance Rejection Control ◽  
Compensator Design ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Quadrotor System

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.

Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control

2020 ◽  
Vol 42 (12) ◽  
pp. 2198-2205
Author(s):  
Yong Zhang ◽  
Zengqiang Chen ◽  
Mingwei Sun
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Dynamic Surface ◽  
Virtual Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Aerial Vehicle ◽  
Surface Active

This paper proposes a dynamic surface active disturbance rejection control (ADRC) strategy to deal with trajectory tracking problems for a quadrotor unmanned aerial vehicle (UAV). Compared with backstepping control, the design process of the dynamic controller is more simple; the dynamic surface control introduces a first-order filter to obtain the derivative of the virtual control, the purpose is to avoid the virtual control derivation, and to simplify the control law of the whole system. The ADRC technique is mainly used to reject the disturbances and stabilize the quadrotor UAV system. Parametric uncertainties and external disturbances have been considered for the whole system, the control strategy that proposed in this paper has been simulated by MATLAB and the advantages and effectiveness of the control strategy that proposed in the paper are shown by comparing with the classical ADRC.

scholarly journals Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

2017 ◽  
Vol 14 (2) ◽  
pp. 172988141769915 ◽  
Author(s):  
Yang Chen ◽  
Jianhong Liang ◽  
Chaolei Wang ◽  
Yicheng Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Hierarchical Control ◽  
Path Following ◽  
Roll Angle ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Aerial Vehicle

This article proposes a composite path following controller that allows the small fixed-wing unmanned aerial vehicle to follow a predefined path. Assuming that the vehicle is equipped with an autopilot for altitude and airspeed maintained well, the controller design adopts the hierarchical control structure. With the inner-loop controller design based on the notion of active disturbance rejection control which will respond to the desired roll angle command, the core part of the outer-loop controller is designed based on Lyapunov stability theorem to generate the desired course rate for the straight-line paths. The bank to turn maneuver is used to transform the desired course rate to the desired roll angle command. Both the hardware-in-the-loop simulation in the X-Plane simulator and actual experimental flight tests have been successfully achieved, which verified the effectiveness of the proposed method.

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

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