Design of Active Disturbance Rejection Controller for UAV Formation Maintenance

Jiajiu Qiang; Xiuyun Meng; Guanghui Wu

doi:10.1109/ICUS48101.2019.8995933

Design of Active Disturbance Rejection Controller for UAV Formation Maintenance

Jiajiu Qiang, Xiuyun Meng, Guanghui Wu

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

The active disturbance rejection control technology was designed to solve the problem of formation maintenance in UAV cooperative formation flight, so that the response process had good dynamic quality and small static error. This paper first established a UAV formation flying model based on relative error in a two-dimensional plane. On this basis, the tracking differentiator, the extended state observer and the nonlinear state feedback controller were designed. The simulation results showed that the active disturbance rejection controller designed has good control performance and could realize the mission of maintaining the UAV with high precision.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	19-23
Number of pages	5
ISBN (Electronic)	9781728137926
DOIs	https://doi.org/10.1109/ICUS48101.2019.8995933
Publication status	Published - Oct 2019
Event	2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, China Duration: 17 Oct 2019 → 19 Oct 2019

Publication series

Name	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Conference

Conference	2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Country/Territory	China
City	Beijing
Period	17/10/19 → 19/10/19

Keywords

active disturbance rejection control
formation maintenance
relative position error
unmanned aerial vehicle formation

Access to Document

10.1109/ICUS48101.2019.8995933

Cite this

Qiang, J., Meng, X., & Wu, G. (2019). Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. In Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 (pp. 19-23). Article 8995933 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS48101.2019.8995933

Qiang, Jiajiu ; Meng, Xiuyun ; Wu, Guanghui. / Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 19-23 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

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title = "Design of Active Disturbance Rejection Controller for UAV Formation Maintenance",

abstract = "The active disturbance rejection control technology was designed to solve the problem of formation maintenance in UAV cooperative formation flight, so that the response process had good dynamic quality and small static error. This paper first established a UAV formation flying model based on relative error in a two-dimensional plane. On this basis, the tracking differentiator, the extended state observer and the nonlinear state feedback controller were designed. The simulation results showed that the active disturbance rejection controller designed has good control performance and could realize the mission of maintaining the UAV with high precision.",

keywords = "active disturbance rejection control, formation maintenance, relative position error, unmanned aerial vehicle formation",

author = "Jiajiu Qiang and Xiuyun Meng and Guanghui Wu",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 ; Conference date: 17-10-2019 Through 19-10-2019",

year = "2019",

month = oct,

doi = "10.1109/ICUS48101.2019.8995933",

language = "English",

series = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

address = "United States",

}

Qiang, J, Meng, X & Wu, G 2019, Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. in Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019., 8995933, Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 19-23, 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Beijing, China, 17/10/19. https://doi.org/10.1109/ICUS48101.2019.8995933

Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. / Qiang, Jiajiu; Meng, Xiuyun; Wu, Guanghui.
Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 19-23 8995933 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The active disturbance rejection control technology was designed to solve the problem of formation maintenance in UAV cooperative formation flight, so that the response process had good dynamic quality and small static error. This paper first established a UAV formation flying model based on relative error in a two-dimensional plane. On this basis, the tracking differentiator, the extended state observer and the nonlinear state feedback controller were designed. The simulation results showed that the active disturbance rejection controller designed has good control performance and could realize the mission of maintaining the UAV with high precision.

AB - The active disturbance rejection control technology was designed to solve the problem of formation maintenance in UAV cooperative formation flight, so that the response process had good dynamic quality and small static error. This paper first established a UAV formation flying model based on relative error in a two-dimensional plane. On this basis, the tracking differentiator, the extended state observer and the nonlinear state feedback controller were designed. The simulation results showed that the active disturbance rejection controller designed has good control performance and could realize the mission of maintaining the UAV with high precision.

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Qiang J, Meng X, Wu G. Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. In Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 19-23. 8995933. (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). doi: 10.1109/ICUS48101.2019.8995933

Design of Active Disturbance Rejection Controller for UAV Formation Maintenance

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