Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers
The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived...
Main Authors: | , |
---|---|
Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2021-01-01
|
Series: | Journal of Robotics |
Online Access: | http://dx.doi.org/10.1155/2021/5216472 |
id |
doaj-a88f4270d0574b5f9d5c77d154c59dca |
---|---|
record_format |
Article |
spelling |
doaj-a88f4270d0574b5f9d5c77d154c59dca2021-07-19T01:04:40ZengHindawi LimitedJournal of Robotics1687-96192021-01-01202110.1155/2021/5216472Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid ControllersXiaoming Ji0Zihui Cai1Department of Electrical EngineeringBeijing Satellite Manufacturing Co., LtdThe purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.http://dx.doi.org/10.1155/2021/5216472 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xiaoming Ji Zihui Cai |
spellingShingle |
Xiaoming Ji Zihui Cai Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers Journal of Robotics |
author_facet |
Xiaoming Ji Zihui Cai |
author_sort |
Xiaoming Ji |
title |
Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers |
title_short |
Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers |
title_full |
Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers |
title_fullStr |
Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers |
title_full_unstemmed |
Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers |
title_sort |
disturbance rejection trajectory tracking control for an unmanned quadrotor based on hybrid controllers |
publisher |
Hindawi Limited |
series |
Journal of Robotics |
issn |
1687-9619 |
publishDate |
2021-01-01 |
description |
The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances. |
url |
http://dx.doi.org/10.1155/2021/5216472 |
work_keys_str_mv |
AT xiaomingji disturbancerejectiontrajectorytrackingcontrolforanunmannedquadrotorbasedonhybridcontrollers AT zihuicai disturbancerejectiontrajectorytrackingcontrolforanunmannedquadrotorbasedonhybridcontrollers |
_version_ |
1721295465293545472 |