Composite Disturbance Rejection Attitude Control for Quadrotor with Unknown Disturbance

Kai Zhao, Jinhui Zhang*, Dailiang Ma, Yuanqing Xia

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

87 Citations (Scopus)

Abstract

In this article, a composite disturbance rejection control method is proposed for attitude control of quadrotor using an inner-outer loop control framework, which can effectively improve the angular tracking performance of the quadrotor and achieve the active disturbance rejection. In the inner loop, a novel nonlinear extended state observer (NESO) is designed to estimate the disturbance and nonlinear part of the system model, then a robust control law is embedded in inner-loop controller to attenuate the effect of the estimation error. In the outer loop, a composite nonlinear feedback (CNF) controller is designed to improve the transient performance. Moreover, the stability of two loops are also analyzed, respectively. Numerical simulation and platform experiment are carried out to verify the efficiency of the proposed method.

Original languageEnglish
Article number8818657
Pages (from-to)6894-6903
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume67
Issue number8
DOIs
Publication statusPublished - Aug 2020

Keywords

  • Attitude control
  • composite nonlinear feedback (CNF) controller
  • nonlinear extended state observer (NESO)
  • quadrotor

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