Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control

作     者：Lu Wang Jianbo Su 

作者机构：the Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2015年第2卷第1期

页      面：65-73页

核心收录：

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 

基　　金：supported by National Natural Science Foundation of China(61221003) 

主　　题：Aircraft control Airships Closed loop control systems Closed loop systems Disturbance rejection Landing Perturbation techniques State estimation Takeoff Trajectories Unmanned vehicles Vehicles 

摘      要：We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy. © 2014 Chinese Association of Automation.