Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor

Author:

Ramírez-Neria Mario1ORCID,Luviano-Juárez Alberto2ORCID,González-Sierra Jaime3ORCID,Ramírez-Juárez Rodrigo4ORCID,Aguerrebere Joaquín1,Hernandez-Martinez Eduardo G.1ORCID

Affiliation:

1. Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de México, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico

2. Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Av. IPN 2580, Col. Barrio La Laguna Ticomán, Ciudad de México 07340, Mexico

3. Unidad Profesional Interdisciplinaria de Ingeniería Campus Hidalgo, Instituto Politécnico Nacional, Carretera Pachuca—Actopan Kilómetro 1+500, Distrito de Educación, Salud, Ciencia, Tecnología e Innovación, San Agustín Tlaxiaca 42162, Mexico

4. Facultad de Estudios Superiories Cuautitlán Campo 4, Universidad Nacionacional Autonoma de Mexico, Carretera Cuautitlán—Teoloyucán Kilómetro 2+500, San Sebastian Xhala, Cuautitlá Izcalli 54714, Mexico

Abstract

In the last decade, quadrotors have gained popularity among industry and academia due to their capabilities and the various applications in which they can be found. In addition to the above, because this is an underactuated system, researchers have found it a great challenge to control. Despite this, there is a wide variety of methodologies in the literature to control this type of system. Based on the above, this work proposed an alternative to trajectory tracking control for quadrotor unmanned aerial vehicles (UAV). The problem was divided into two main control loops: an outer control loop for the position coordinates, tackled through linear active disturbance rejection controllers (ADRC), and an inner control loop related to the orientation variables, addressed via robust proportional-integral-differential (PID) controllers. Furthermore, a generalized proportional integral observer (GPIO) was implemented to estimate the velocity and internal and external disturbances; therefore, the control strategy only depended on the attitude (position and orientation) quadrotor measurements. Then, the control performance was tested through numerical simulations and experimental tests, including wind disturbance inputs.

Funder

Universidad Iberoamericana Ciudad de México

Instituto Politécnico Nacional—Secretaría de Investigación y Posgrado

Publisher

MDPI AG

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3