Active disturbance rejection and predictive control strategy for a quadrotor helicopter. Issue 17 (1st September 2016)

• Record Type: Journal Article
• Authors: Ma, Dailiang; Xia, Yuanqing; Li, Tianya; Chang, Kai
• Is Part Of: IET control theory & applications. Volume 10:Issue 17(2016)
• Page Start: 2213
• Page End: 2222
• Publication Date: 2016-09-01
• Subjects: active disturbance rejection control -- predictive control -- helicopters -- trajectory control -- autonomous aerial vehicles -- robot dynamics -- observers -- robust control; active disturbance rejection control strategy -- predictive control strategy -- trajectory tracking problem -- unmanned quadrotor helicopter -- quadrotor dynamic model -- wind gust -- extended state observers -- disturbance compensation -- disturbance estimation -- rotational movement stabilisation -- error modelling -- reference trajectory tracking; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2016.0125
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : In this study, an active disturbance rejection and predictive control strategy is presented to solve the trajectory tracking problem for an unmanned quadrotor helicopter with disturbances. The proposed control scheme is based on the quadrotor's dynamic model, where effects of wind gust are considered as additive disturbances on six degrees of freedom. The predictive controller solves the path following problem with extended state observers to estimate and compensate disturbances. The active disturbance rejection control scheme is used for the stabilisation of rotational movements. The suggested control structure is verified in simulation studies with the presence of external disturbances and parametric uncertainties. The proposed method improves the robustness for the modelling error and disturbances while performing a smooth tracking of the reference trajectory.