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

宇航学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
出版商	Institute of Electrical and Electronics Engineers Inc.
页	19-23
页数	5
ISBN（电子版）	9781728137926
DOI	https://doi.org/10.1109/ICUS48101.2019.8995933
出版状态	已出版 - 10月 2019
活动	2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, 中国期限: 17 10月 2019 → 19 10月 2019

出版系列

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

会议

会议	2019 IEEE International Conference on Unmanned Systems, ICUS 2019
国家/地区	中国
市	Beijing
时期	17/10/19 → 19/10/19

访问文件

10.1109/ICUS48101.2019.8995933

其它文件与链接

链接到 Scopus 的出版物

引用此

Qiang, J., Meng, X., & Wu, G. (2019). Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. 在 Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 (页码 19-23). 文章 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. 页码 19-23 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

@inproceedings{9ae0110790e84c25af156e034a93a25c,

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.",

pages = "19--23",

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. 在 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., 页码 19-23, 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Beijing, 中国, 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. 页码 19-23 8995933 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design of Active Disturbance Rejection Controller for UAV Formation Maintenance

AU - Qiang, Jiajiu

AU - Meng, Xiuyun

AU - Wu, Guanghui

PY - 2019/10

Y1 - 2019/10

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.

KW - active disturbance rejection control

KW - formation maintenance

KW - relative position error

KW - unmanned aerial vehicle formation

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U2 - 10.1109/ICUS48101.2019.8995933

DO - 10.1109/ICUS48101.2019.8995933

M3 - Conference contribution

AN - SCOPUS:85080861840

T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

SP - 19

EP - 23

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Y2 - 17 October 2019 through 19 October 2019

ER -

Qiang J, Meng X, Wu G. Design of Active Disturbance Rejection Controller for UAV Formation Maintenance. 在 Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 页码 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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