Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method

Haoyu Wu, Zhenhua Pan*, Jie Li, Kewei Li, Dongyang Zhao

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The rapid development in technology has spurred the widespread use of unmanned aerial vehicles (UAVs) in various fields, including military, civilian, and scientific research. In the process of an UAV performing a mission, accurate tracking of its trajectory is crucial, so studying the trajectory tracking control of quadrotors has important practical application value. In view of the characteristics of quadrotors such as nonlinearity and strong coupling, this paper designs an active disturbance rejection control (ADRC) method that combines phase compensator and improved expanded state observer (ESO). This method adds a phase compensator with filtering function behind the tracking differentiator, which solves the problem of phase lag of the output signal. And it uses the inverse hyperbolic sine function to replace the Fal function in the traditional ESO, which reduces the chattering of the system. Finally, simulation experiments verified the proposed method’s effectiveness.

Original languageEnglish
Title of host publicationProceedings - 2024 IEEE 22nd International Conference on Industrial Informatics, INDIN 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798331527471
DOIs
Publication statusPublished - 2024
Event22nd IEEE International Conference on Industrial Informatics, INDIN 2024 - Beijing, China
Duration: 18 Aug 202420 Aug 2024

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)1935-4576

Conference

Conference22nd IEEE International Conference on Industrial Informatics, INDIN 2024
Country/TerritoryChina
CityBeijing
Period18/08/2420/08/24

Keywords

  • Active Disturbance Rejection Control (ADRC)
  • Expanded State Observer (ESO)
  • Phase Compensator
  • Quadrotor
  • Trajectory Tracking

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Wu, H., Pan, Z., Li, J., Li, K., & Zhao, D. (2024). Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method. In Proceedings - 2024 IEEE 22nd International Conference on Industrial Informatics, INDIN 2024 (IEEE International Conference on Industrial Informatics (INDIN)). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INDIN58382.2024.10774483