TY - GEN
T1 - Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method
AU - Wu, Haoyu
AU - Pan, Zhenhua
AU - Li, Jie
AU - Li, Kewei
AU - Zhao, Dongyang
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - Active Disturbance Rejection Control (ADRC)
KW - Expanded State Observer (ESO)
KW - Phase Compensator
KW - Quadrotor
KW - Trajectory Tracking
UR - http://www.scopus.com/inward/record.url?scp=85215534171&partnerID=8YFLogxK
U2 - 10.1109/INDIN58382.2024.10774483
DO - 10.1109/INDIN58382.2024.10774483
M3 - Conference contribution
AN - SCOPUS:85215534171
T3 - IEEE International Conference on Industrial Informatics (INDIN)
BT - Proceedings - 2024 IEEE 22nd International Conference on Industrial Informatics, INDIN 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd IEEE International Conference on Industrial Informatics, INDIN 2024
Y2 - 18 August 2024 through 20 August 2024
ER -