Academic Journal
Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs
| Title: | Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs |
|---|---|
| Authors: | José Fermi Guerrero-Castellanos, Sylvain Durand, German Ardul Munoz-Hernandez, Nicolas Marchand, Lorenzo L. González Romeo, Jesús Linares-Flores, Gerardo Mino-Aguilar, Wuiyevaldo F. Guerrero-Sánchez |
| Source: | Applied Sciences, Vol 11, Iss 13, p 5960 (2021) |
| Publisher Information: | MDPI AG, 2021. |
| Publication Year: | 2021 |
| Collection: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| Subject Terms: | multirotor UAV, quaternion feedback, extended state observer, ADRC, bounded input, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| More Details: | This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | English |
| ISSN: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/11/13/5960; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app11135960 |
| Access URL: | https://doaj.org/article/dc7a70fc3e414c9390291d3ae939372e |
| Accession Number: | edsdoj.7a70fc3e414c9390291d3ae939372e |
| Database: | Directory of Open Access Journals |
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| ISSN: | 20763417 |
|---|---|
| DOI: | 10.3390/app11135960 |
| Published in: | Applied Sciences |
| Language: | English |