Quadrotor trajectory tracking and obstacle avoidance by chaotic grey wolf optimization-based active disturbance rejection control

被引：63

作者：

Cai, Zhihao ^{[1
]}

Lou, Jiang ^{[1
]}

Zhao, Jiang ^{[1
]}

Wu, Kun ^{[2
]}

Liu, Ningjun ^{[1
]}

Wang, Ying Xun ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[2] Beihang Univ, Flying Coll, Beijing 100191, Peoples R China

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2019年 / 128卷

基金：

中国国家自然科学基金;

关键词：

Quadrotor; Trajectory tracking; Active disturbance rejection control; Chaotic grey wolf optimization (CGWO); Virtual target guidance; Obstacle avoidance; VEHICLE; DESIGN; LINEARIZATION; OBSERVER;

D O I：

10.1016/j.ymssp.2019.03.035

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a new active disturbance rejection control (ADRC) scheme based on swarm intelligent method is proposed for quadrotors to achieve trajectory tracking and obstacle avoidance. First, the finite-time convergent extended state observer (FTCESO) is designed to enhance the performance of ADRC controller. Then, the chaotic grey wolf optimization (CGWO) algorithm is developed with chaotic initialization and chaotic search to obtain the optimal parameters of attitude and position controllers. Further, a novel virtual target guidance approach is proposed to achieve obstacle avoidance for quadrotors. Comparative simulations are presented to demonstrate the effectiveness and robustness of the CGWO-based ADRC scheme and the virtual target guidance approach. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页码：636 / 654

页数：19

共 50 条

[21] Precise Trajectory Tracking for UAV Based on Active Disturbance Rejection Control
Zhang, Xiaofeng
Wang, Honglun
Shao, Xingling
Liu, Chang
FOURTH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (CCAIS 2015), 2015, : 464 - 469
[22] Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle
Xu, Lin -Xing
Wang, Yu-Long
Wang, Fei
Long, Yue
APPLIED MATHEMATICS AND COMPUTATION, 2023, 449
[23] Active Disturbance Rejection Control of Quadrotor UAV based on Whale Optimization Algorithm
Liu, Xinpeng
Gao, Qiang
Ji, Yuehui
Song, Yu
Liu, Junjie
PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022), 2022, : 351 - 356
[24] Nonlinear Model Predictive Control-Based Guidance Algorithm for Quadrotor Trajectory Tracking with Obstacle Avoidance
Zhao, Chunhui
Wang, Dong
Hu, Jinwen
Pan, Quan
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2021, 34 (04) : 1379 - 1400
[25] Distributed Active Disturbance Rejection Formation Tracking Control for Quadrotor UAVs
Xu, Lin-Xing
Wang, Yu-Long
Wang, Xiaofan
Peng, Chen
IEEE TRANSACTIONS ON CYBERNETICS, 2024, 54 (08) : 4678 - 4689
[26] Nonlinear Model Predictive Control-Based Guidance Algorithm for Quadrotor Trajectory Tracking with Obstacle Avoidance
Chunhui Zhao
Dong Wang
Jinwen Hu
Quan Pan
Journal of Systems Science and Complexity, 2021, 34 : 1379 - 1400
[27] Nonlinear Model Predictive Control-Based Guidance Algorithm for Quadrotor Trajectory Tracking with Obstacle Avoidance
ZHAO Chunhui
WANG Dong
HU Jinwen
PAN Quan
JournalofSystemsScience&Complexity, 2021, 34 (04) : 1379 - 1400
[28] Nonlinear Model Predictive Control on SE(3) for Quadrotor Trajectory Tracking and Obstacle Avoidance
Pereira, Jean C.
Leite, Valter J. S.
Raffo, Guilherme, V
2019 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2019, : 155 - 160
[29] Path tracking for evasive collision avoidance based on active disturbance rejection control
Zhao, Youqun
Wang, Jian
Ji, Xuewu
Li, Bo
Tongji Daxue Xuebao/Journal of Tongji University, 2015, 43 (08): : 1200 - 1204
[30] Spatial trajectory tracking control for unmanned airships based on active disturbance rejection control
Lou, Wenjie
Zhu, Ming
Guo, Xiao
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2019, 233 (06) : 2231 - 2240

← 1 2 3 4 5 →