A Robust Disturbance-Rejection Controller Using Model Predictive Control for Quadrotor UAV in Tracking Aggressive Trajectory

被引:7
|
作者
Xu, Zhixiong [1 ]
Fan, Li [1 ,2 ]
Qiu, Wei [1 ]
Wen, Guangwei [2 ]
He, Yunhan [1 ]
机构
[1] Zhejiang Univ, Coll Control Sci & Engn, Hangzhou 310027, Peoples R China
[2] Zhejiang Univ, Huzhou Inst, Huzhou 313000, Peoples R China
关键词
waypoint tracking; model predictive control; nonlinear attitude controller; differential flatness;
D O I
10.3390/drones7090557
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
A robust controller for the waypoint tracking of a quadrotor unmanned aerial vehicle (UAV) is proposed in this paper, in which position control and attitude control are effectively decoupled. Model predictive control (MPC) is employed in the position controller. The constraints of motors are imposed on the state and input variables of the optimization equation. This design effectively mitigates the nonlinearity of the attitude loop and enhances the planning efficiency of the position controller. The attitude controller is designed using a nonlinear and robust control law based on SO(3) space, which enables continuous control on the SO(3) manifold. By extending the differential flatness of the quadrotor-UAV to the angular acceleration level, the mapping of the control reference from the position controller to the attitude controller is achieved. Simulations are carried out to demonstrate the capability of the proposed controller. In the simulations, multiple aggressive flight trajectories and severe external disturbances are designed. The results show that the controller is robust, with superior accuracy in tracking aggressive trajectories.
引用
收藏
页数:21
相关论文
共 50 条
  • [41] Quadrotor Helicopters Trajectory Tracking with Stochastic Model Predictive Control
    Yang, Yanhua
    Chen, Yang
    Tang, Chaoquan
    Chai, Li
    2017 AUSTRALIAN AND NEW ZEALAND CONTROL CONFERENCE (ANZCC), 2017, : 166 - 171
  • [42] Nonlinear Disturbance Observer based Dynamic Surface Control for Trajectory Tracking of a Quadrotor UAV
    Ban, Hanyu
    Qi, Zhuoran
    Li, Bo
    Gong, Wenquan
    2018 INTERNATIONAL SYMPOSIUM IN SENSING AND INSTRUMENTATION IN IOT ERA (ISSI), 2018,
  • [43] Nonlinear Model Predictive Control for Autonomous Quadrotor Trajectory Tracking
    Benotsmane, Rabab
    Vasarhelyi, Jozsef
    VEHICLE AND AUTOMOTIVE ENGINEERING 4, VAE2022, 2023, : 24 - 34
  • [44] Trajectory Tracking and Disturbance Rejection for Quadrotor Helicopter by a Novel Method
    He, Changran
    Huang, Jie
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 600 - 605
  • [45] Robust trajectory tracking controller for an octocopter UAV
    Dixit, Abhishek
    Agrawal, Pooja
    Misra, Ajay
    ENGINEERING RESEARCH EXPRESS, 2023, 5 (02):
  • [46] Robust Internal Model Controller for Quadrotor UAV
    Walid, Mizouri
    Slaheddine, Najar
    Mohamed, Aoun
    Lamjed, Bouabdallah
    2018 INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND ELECTRICAL TECHNOLOGIES (IC_ASET), 2017, : 138 - 143
  • [47] Enhanced PSO-Tuned Fractional-Order Adaptive Model Predictive Control for Robust UAV-Quadrotor Trajectory Tracking
    Hussain, Sheharyar
    Ji, Daxiong
    Xu, Lie
    2024 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA, 2024, : 188 - 195
  • [48] Trajectory Tracking Control Design for UAV Based on MPC and Active Disturbance Rejection
    Wang Wenjie
    He Zhen
    Cao Rui
    Jin Feiteng
    Su Huiming
    2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2018,
  • [49] Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space
    Sariyildiz, Emre
    Mutlu, Rahim
    Zhang, Chuanlin
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (06):
  • [50] Trajectory tracking of a quadrotor using TID controller
    Deveerasetty, Kranthi Kumar
    Zhou, Yimin
    Han, Bo
    2019 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC), 2019, : 139 - 144