Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control
Articles
Yong Zhang
Nankai University
Zengqiang Chen
Nankai University
Mingwei Sun
Nankai University
Xinghui Zhang
Tianjin Sino-German University of Applied Sciences
Published 2019-06-27
https://doi.org/10.15388/NA.2019.4.4
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Keywords

sliding mode control
active disturbance rejection control (ADRC)
extended state observer (ESO)
quadrotor UAV
trajectory tracking control

How to Cite

Zhang, Y. (2019) “Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control”, Nonlinear Analysis: Modelling and Control, 24(4), pp. 545–560. doi:10.15388/NA.2019.4.4.

Abstract

This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.

 

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