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

作     者：Yuan YUAN Lei CHENG Zidong WANG Chong SUN 

作者机构：Department of Computer Science Brunel University London School of Astronautics Northwestern Polytechnical University 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2019年第62卷第1期

页      面：5-14页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

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

主　　题：position control quadrotor system extended-state-observer attitude control 

摘      要：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) is employed 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 designed for 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.