Extended State Observer based control for coaxial-rotor UAV. (March 2016)

• Record Type: Journal Article
• Authors: Rida Mokhtari, M.; Choukchou Braham, Amal; Cherki, Brahim
• Is Part Of: ISA transactions. Volume 61(2016:Mar.)
• Page Start: 1
• Page End: 14
• Publication Date: 2016-03
• Subjects: Extended State Observer -- Active disturbance rejection control -- Hierarchical control -- Coaxial-rotor; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2015.11.024
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper considers the problem of controlling the position and the orientation of a Coaxial-Rotor Unmanned Aerial Vehicle -CRUAV- despite unknown aerodynamic efforts. A hierarchical flight controller is designed, allowing the trajectory tracking and the stabilization of the vehicle. The designed controller is build through a hierarchical approach yielding two control loops, an inner one to control the attitude and an outer one to control the translational trajectory of the rotorcraft. An Extended State Observer -ESO- is used to estimate the state and the unknown aerodynamic disturbances. The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy.