Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method

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

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Proceedings - 2024 IEEE 22nd International Conference on Industrial Informatics, INDIN 2024
出版商Institute of Electrical and Electronics Engineers Inc.
ISBN(电子版)9798331527471
DOI
出版状态已出版 - 2024
活动22nd IEEE International Conference on Industrial Informatics, INDIN 2024 - Beijing, 中国
期限: 18 8月 202420 8月 2024

出版系列

姓名IEEE International Conference on Industrial Informatics (INDIN)
ISSN(印刷版)1935-4576

会议

会议22nd IEEE International Conference on Industrial Informatics, INDIN 2024
国家/地区中国
Beijing
时期18/08/2420/08/24

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引用此

Wu, H., Pan, Z., Li, J., Li, K., & Zhao, D. (2024). Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method. 在 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