Active disturbance rejection and predictive control strategy for a quadrotor helicopter

被引：114

作者：

Ma, Dailiang ^{[1
]}

Xia, Yuanqing ^{[1
]}

Li, Tianya ^{[1
]}

Chang, Kai ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Mech Engn Coll, Sch Automat, Shijiazhuang 050005, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2016年 / 10卷 / 17期

基金：

中国国家自然科学基金; 北京市自然科学基金;

关键词：

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; EXTENDED STATE OBSERVER; CONVERGENCE; UNCERTAINTY; ATTITUDE; SYSTEMS; VEHICLE;

D O I：

10.1049/iet-cta.2016.0125

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2213 / 2222

页数：10

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