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
收藏
页码：636 / 654
页数：19
相关论文
共 50 条
  • [31] Uncertainty and Disturbance Estimator-Based Global Trajectory Tracking Control for a Quadrotor
    Lu, Qi
    Ren, Beibei
    Parameswaran, Siva
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2020, 25 (03) : 1519 - 1530
  • [32] Optimized active disturbance rejection trajectory tracking control for mobile cleaning manipulator
    Cheng Z.
    Li Z.
    Du Y.
    Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2023, 29 (12): : 3993 - 4000
  • [33] Quadrotor Attitude Control based on Nonlinear Active Disturbance Rejection Control
    Zhou, Wenya
    Qin, Libo
    Li, Long'en
    Jiang, Wenhui
    2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 294 - 298
  • [34] Quadrotor modeling and control based on Linear Active Disturbance Rejection Control
    Li, Jiaming
    Li, Rui
    Zheng, Haichao
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 10651 - 10656
  • [35] Active Disturbance Rejection Control for Trajectory Tracking of Space Manipulator Flexible Joint
    Zhao Zhigang
    Tian Hao
    Zhao Yang
    2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 727 - 732
  • [36] Parafoil Trajectory Tracking Control Based on Interval Type-2 Fuzzy Active Disturbance Rejection Control
    Li Yongxin
    Zou Kuansheng
    Zhang Yunxi
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 3776 - 3781
  • [37] Global Trajectory Tracking of VTOL UAV Based on Disturbance Rejection Control
    Wang Lu
    Su Jianbo
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 4270 - 4275
  • [38] Trajectory tracking control of an aerial robot based on linear active disturbance rejection control approach
    Ding Li
    Gao Zhenqi
    PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 5004 - 5009
  • [39] Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC
    Sun, Bing
    Zhang, Wei
    Song, Aiguo
    Zhu, Xixi
    Zhu, Daqi
    2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
  • [40] Trajectory tracking control for an indoor quadrotor UAV based on the disturbance observer
    Wang, Honglin
    Chen, Mou
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2016, 38 (06) : 675 - 692
12345