Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

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...

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Main Authors: Xiaoming Ji, Zihui Cai
Format: Article
Language:English
Published: Hindawi Limited 2021-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2021/5216472
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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

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