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

Author:

Ji Xiaoming1ORCID,Cai Zihui2

Affiliation:

1. Department of Electrical Engineering, Jiangsu College of Safety Technology, Xuzhou 221011, Jiangsu, China

2. Beijing Satellite Manufacturing Co., Ltd, Beijing 100000, China

Abstract

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.

Publisher

Hindawi Limited

Subject

General Computer Science,Control and Systems Engineering

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