Obstacle avoidance and active disturbance rejection control for a quadrotor

被引：57

作者：

Chang, Kai ^{[1
]}

Xia, Yuanqing ^{[2
]}

Huang, Kaoli ^{[1
]}

Ma, Dailiang ^{[2
]}

机构：

[1] Mech Engn Coll, Sch Automat, Shijiazhuang 050003, Peoples R China

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

来源：

NEUROCOMPUTING | 2016年 / 190卷

关键词：

Trajectory tracking; ADRC control; Unmanned aerial vehicle; Collision avoidance; SLIDING-MODE OBSERVER; CONVERGENCE; SYSTEMS; DESIGN; FLIGHT; ADRC;

D O I：

10.1016/j.neucom.2016.01.033

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an active disturbance rejection control (ADRC) system is developed for autonomous quadrotor with obstacle avoidance. In this control system, the controller based on ADRC technique is the main controller. The robust trajectory tracking problem of the quadrotor is solved based on the attitude decoupling control. ADRC attitude decoupling controllers are used to eliminate the effect of the state coupling and uncertainties caused by internal and external disturbances. This control system also contains an avoidance obstacle approach whose trajectories can be obtained through two kinds of potential field with rotation vectors, quadrotor can choose a smoother trajectory from them to avoid the obstacle. The effectiveness of the proposed approach has been verified in simulations. (C) 2016 Elsevier B.V. All rights reserved.

引用

页码：60 / 69

页数：10

共 27 条

[1] High-order sliding-mode observer for a quadrotor UAV [J].

Benallegue, A. ;

Mokhtari, A. ;

Fridman, L. .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2008, 18 (4-5) :427-440

[2] Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer [J].

Besnard, Lenaick ;

Shtessel, Yuri B. ;

Landrum, Brian .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2012, 349 (02) :658-684

[3] Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics [J].

Das, Abhijit ;

Lewis, Frank ;

Subbarao, Kamesh .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2009, 56 (1-2) :127-151

[4] Fractional-Order PIλDμ and Active Disturbance Rejection Control of Nonlinear Two-Mass Drive System [J].

Erenturk, Koksal .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2013, 60 (09) :3806-3813

[5] Design and Implementation of a Hybrid Fuzzy Logic Controller for a Quadrotor VTOL Vehicle [J].

Erginer, Bora ;

Altug, Erdinc .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2012, 10 (01) :61-70

[6] Towards using Unmanned Aerial Vehicles (UAVs) in Wilderness Search and Rescue Lessons from field trials [J].

Goodrich, Michael A. ;

Morse, Bryan S. ;

Engh, Cameron ;

Cooper, Joseph L. ;

Adams, Julie A. .

INTERACTION STUDIES, 2009, 10 (03) :453-478

[7] On convergence of tracking differentiator [J].

Guo, Bao-Zhu ;

Zhao, Zhi-Liang .

INTERNATIONAL JOURNAL OF CONTROL, 2011, 84 (04) :693-701

[8] On the convergence of an extended state observer for nonlinear systems with uncertainty [J].

Guo, Bao-Zhu ;

Zhao, Zhi-liang .

SYSTEMS & CONTROL LETTERS, 2011, 60 (06) :420-430

[9] Quadrotors and Accelerometers STATE ESTIMATION WITH AN IMPROVED DYNAMIC MODEL [J].

Leishman, Robert C. ;

Macdonald, John C., Jr. ;

Beard, Randal W. ;

Mclain, Timothy W. .

IEEE CONTROL SYSTEMS MAGAZINE, 2014, 34 (01) :28-41

[10]

Li Jie, 2013, Electronics Optics & Control, V20, P44, DOI 10.3969/j.issn.1671-637X.2013.03.010

← 1 2 3 →