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SCIENCE CHINA Information Sciences, Volume 62, Issue 1: 010201(2019) https://doi.org/10.1007/s11432-018-9548-5

Position tracking and attitude control for quadrotors via active disturbance rejection control method

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  • ReceivedJul 4, 2018
  • AcceptedJul 19, 2018
  • PublishedDec 19, 2018

Abstract

In this paper, a trigonometric-saturation-function-based position controller is designed for the quadrotor system with internal and external disturbances. Furthermore, in the attitude control problem, a dual closed-loop structure is put forward. Specifically, a nonlinear extended-state-observer (ESO) isemployed to provide an estimate for the so-called total disturbance.Then, based on the estimate provided by the ESO, a nonlinear composite control strategy is designedfor the purpose of angular tracking. Some sufficient conditions are established to guarantee that the position and attitude subsystems are stable.The contributions are mainly as follows. (1) A trigonometric-saturation-function is used in the position control which could guarantee that the studied system is fully-actuated.(2) The nonlinear ESO is implemented in the attitude control-loop which could enhance the anti-disturbance property. Finally, some numerical simulations and practical experiments are provided to verify the applicability of the proposed methodology.


Acknowledgment

This work was supported in part by Royal Society of the U.K., in part by Research Fund for the Taishan Scholar Project of Shandong Province of China, in part by National Natural Science Foundation of China (Grant No. 61503001), and in part by Alexander von Humboldt Foundation of Germany.


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  • Figure 1

    (Color online) The schematic diagram of control.

  • Table 1   Parameters of the position controller
    Parameter Value Parameter Value
    $m_{1}$ $5.0$ $m_{2}$ $5.0$
    $n_{1}$ $0.5$ $n_{2}$ $0.5$
    $k_{1}$ $2.3$ $k_{2}$ $2.3$
    $l_{1}$ $7.5$ $l_{2}$ $7.6$
  • Table 2   Parameters of the attitude controller
    Parameter Roll Pitch Yaw
    $\gamma_{1}$ $1.4\times10^3$ $1.4\times10^3$ $1.3\times10^3$
    $\gamma_{2}$ $2.9\times10^4$ $3.0\times10^4$ $5.0\times10^3$
    $b_{0}$ $5.0\times10^2$ $5.0\times10^2$ $5.0\times10^2$
    $\eta_{1}$ $15.0$ $15.0$ $3.0$
    $p$ $1.0$ $1.0$ $10.0$
    $d$ $0.1$ $0.1$ $0.1$

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