A generalized proportional integral observer–based robust tracking design approach for quadrotor unmanned aerial vehicle. (11th August 2022)

• Record Type: Journal Article
• Authors: Li, Shenghui; Sun, Zhenxing
• Is Part Of: International journal of advanced robotic systems. Volume 19:Number 4(2022)
• Publication Date: 2022-08-11
• Subjects: Backstepping control -- disturbance rejection -- generalized proportional integral observer -- unmanned aerial vehicle; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/17298806221117052
• Languages: English
• ISSNs: 1729-8806

Abstract

This article mainly studies the trajectory tracking control for quadrotor unmanned aerial vehicle with unknown time-varying disturbances including parametric uncertainties, model errors, and external disturbances such as wind effects. Conventional backstepping control schemes usually cannot guarantee the performance when it faces the time-varying disturbances. Improved schemes, such as integral backstepping, can only compensate the disturbances in a relatively slow way. By introducing disturbance observer technology into the design of controller, a composite generalized proportional integral observer–based robust control design method is developed. First, by utilizing the generalized proportional integral observer, the lumped time-varying disturbances of unmanned aerial vehicle are estimated. Secondly, combining the value of disturbance estimation and feedforward controller by using backstepping control technology together, a composite controller has been developed, which can be called as backstepping control + generalized proportional integral observer. The proposed control method has a better capability of disturbance rejection and is easy to implement. Simulation and experimental results illustrate the good robustness and tracking performance of the proposed scheme.