Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor
Abstract
:1. Introduction
- The proposed approach is based on two sets of ADRC control loops, one for tracking a reference in the z axis (denoted as a direct loop) and an additional loop to control the reference trajectories in the plane. This action is indirectly performed, since it depends on the orientation control (indirect loop).
- The orientation control design, a crucial aspect of our research, involves a comprehensive algebraic procedure. This procedure provides the dynamic relation between the dynamics, the orientation control inputs, and the ADRC design, ensuring a robust and reliable system.
- The scheme also considers the estimation and cancellation of external disturbances and internal perturbations, such as non-modeled dynamics of possible coupling effects through the ESO.
- The proposal is not just theoretical. It was experimentally assessed in trajectory-tracking tasks, considering a fan that provided external perturbations. This practical assessment reaffirmed the applicability of our approach in real-world scenarios.
2. Problem Statement
3. Control Strategy
3.1. Trajectory Tracking Control of z: A Direct ADRC Scheme
3.2. Trajectory Tracking Control of : An Indirect ADRC Scheme
- An external control loop of ADRC nature involved in the trajectory tracking control of , whose control input is and .
- An internal control loop taking the control inputs obtained from the external control loop as reference states to be further controlled in the dynamics of (4).
- Notice that the internal control loop is assumed to be fast enough to respect the time scale separation principle (see [59]).
3.2.1. External Control Loop Design
3.2.2. Internal Control Loop
3.3. Orientation Control
4. Numerical Simulations and Real-Time Experiments
4.1. Numerical Simulations
4.2. Real-Time Experiments
4.3. Experiment without External Disturbances
4.4. Experiment with Wind Applied as an External Disturbance
5. Discussion
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Abbreviations
UAV | Unmanned Aerial Vehicles |
ADRC | Active Disturbance Rejection Control |
PID | Proportional-Integral-Differential |
GPIO | Generalized Proportional Integral Observer |
SMC | Sliding Mode Control |
ESO | Extended State Observer |
CT | Continuous Twisting |
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Distance [m] | Velocity [m/s] |
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1 | |
5 |
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Ramírez-Neria, M.; Luviano-Juárez, A.; González-Sierra, J.; Ramírez-Juárez, R.; Aguerrebere, J.; Hernandez-Martinez, E.G. Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor. Actuators 2024, 13, 340. https://doi.org/10.3390/act13090340
Ramírez-Neria M, Luviano-Juárez A, González-Sierra J, Ramírez-Juárez R, Aguerrebere J, Hernandez-Martinez EG. Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor. Actuators. 2024; 13(9):340. https://doi.org/10.3390/act13090340
Chicago/Turabian StyleRamírez-Neria, Mario, Alberto Luviano-Juárez, Jaime González-Sierra, Rodrigo Ramírez-Juárez, Joaquín Aguerrebere, and Eduardo G. Hernandez-Martinez. 2024. "Active Disturbance Rejection Control for the Trajectory Tracking of a Quadrotor" Actuators 13, no. 9: 340. https://doi.org/10.3390/act13090340