Trajectory tacking control of a quad-rotor based on active disturbance rejection control

IEEE International Conference on Automation and Logistics, ICAL

Volumn , Issue , 2012, Pages 254-259

  Gong, Xun ^a   Tian, Yantao ^a   Bai, Yue ^b   Zhao, Changjun ^b  

^a JILIN UNIVERSITY   (China)

^b CHANGCHUN INSTITUTE OF OPTICS   (China)

Author keywords

ADRC algorithm; Extended state observer; Nonlinear state error feedback; Quad rotor

Indexed keywords

ACTIVE DISTURBANCE REJECTION CONTROLS; AIRCRAFT DYNAMICS; CLOSED LOOP DYNAMIC; COUPLING FACTOR; DISCRETE FORM; EXTENDED STATE OBSERVER; EXTERNAL DISTURBANCES; INDEPENDENT CHANNELS; MODEL UNCERTAINTIES; NONLINEAR STATE ERROR FEEDBACKS; QUAD-ROTOR; TACKING CONTROL; TRACKING PERFORMANCE; TRAJECTORY TRACKING;

DEGREES OF FREEDOM (MECHANICS); DISTURBANCE REJECTION; FLIGHT CONTROL SYSTEMS; STATE ESTIMATION; UNCERTAINTY ANALYSIS; UNMANNED AERIAL VEHICLES (UAV);

ALGORITHMS;

EID: 84867949372     PISSN: 21618151     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICAL.2012.6308207     Document Type: Conference Paper

References (14)

1. T. Madani and A. Benallegue, "Backstepping Control for a Quadrotor Helicopter, " The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 3255-3260, October 2006.
2. O. Shakernia, Y. Ma, T. J. Koo and S. S. Sastry, "Landing an Unmanned Air Vehicle: Vision-based Motion Estimation and Nonlinear Control, " Asian J. Control, vol. 1, no. 3, 1999.
3. S. Bouabdallah, "Design and Control of Quadrotors with Application to Autonomous Flying, " PHD thesis, ASL, EPFL, Lausanne, Suisse, December 2006.
4. T. Dierks and S. Jagannathan, "Output Feedback Control of a Quadrotor UAV Using Neural Networks, " IEEE Transactions on Neural Networks, vol. 21, no. 1, pp. 50-66, JANUARY 2010
5. G. V. Raffo, M. G. Ortega and F. R. Rubio, "Back-stepping/Nonlinear Hinf Control for Path Tracking of a Quad-Rotor Unmanned Aerial Vehicle, " American Control Conference. pp. 11-13, June 2008.
6. A. Benallegue, V. Mister and N. K. Msirdi, "Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback, " IEEE International Workshop on Robot and Human Interactive Communication, pp. 586-593, 2001.
7. H. Voos, "Nonlinear state-dependent Riccati equation control of a quadrotor UAV, " IEEE Int. Conf. Control Appl., Munich, Germany, pp. 2547-2552, Oct. 2006.
8. T. Madani and A. Benallegue, "Control of a quadrotor mini-helicopter via full state backstepping technique, " IEEE Conf. Decision Control, San Diego, USA, pp. 1515-1520, Dec. 2006.
9. T. Madani and A. Benalleque, "Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles, " American Control Conference, New York, USA, pp. 5887-5892, Jul. 2007.
10. J. Q. Han, "Nonlinear state error feedback control algorithm-NLSEF, " Control and Decision, vol. 5, 1995.
11. S. B. V. Gomes and J. J. Jr. Ramas, "Airship dynamic modeling for autonomous operation, " IEEE Int. Conf. on Robotics and Automation, 1998.
12. H. Nijmeijer and A. J. Van Der Shaft, Nonlinear Dynamic Control Systems. Springer Verlag, 1990.
13. J. Q. Han and W. Wang, "The Nonlinear Tracking-Differentiator, " Journal of System Science and Math, vol. 14, no. 2, pp. 177-183, 1994.
14. J. Q. Han, "From PID tech to ADRC, " Control Engineering of China, vol. 9, no. 3, pp. 13-18, May 2002.