Design of active disturbance rejection controller for quadrotor unmanned aerial vehicle based on equivalent sliding-mode control method

HU Junyao; TONG Dongbing

doi:10.12299/jsues.22-0124

Volume 37 Issue 2

Jun. 2023

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Article Navigation > Journal of Shanghai University of Engineering Science > 2023 > 37(2): 148-154

HU Junyao, TONG Dongbing. Design of active disturbance rejection controller for quadrotor unmanned aerial vehicle based on equivalent sliding-mode control method[J]. Journal of Shanghai University of Engineering Science, 2023, 37(2): 148-154. doi: 10.12299/jsues.22-0124

Citation:

HU Junyao, TONG Dongbing. Design of active disturbance rejection controller for quadrotor unmanned aerial vehicle based on equivalent sliding-mode control method[J]. Journal of Shanghai University of Engineering Science, 2023, 37(2): 148-154. doi: 10.12299/jsues.22-0124

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Design of active disturbance rejection controller for quadrotor unmanned aerial vehicle based on equivalent sliding-mode control method

doi: 10.12299/jsues.22-0124

HU Junyao,
TONG Dongbing^,

School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2022-05-05
Publish Date: 2023-06-20

Abstract

Abstract

An active disturbance rejection controller (ADRC) based on equivalent sliding-mode control method was proposed to solve the stability problem of quadrotor unmanned aerial vehicle (UAV) with disturbances and uncertainties. According to the transformation of the body coordinate system and ground coordinate system, combined with Newton's second law and Newton-Euler formula, the dynamic model of UAV was constructed. An extended state observer was designed to restore the state of the system and estimate all disturbances and uncertainties of the system, in order to achieve rapid error convergence and improve estimation accuracy. Based on the ADRC, the concept of an equivalent sliding-mode controller was proposed, and the control output was divided into the equivalent control term and the switching robust control term. Combined with the non-singular terminal sliding-mode control, the singular problem was avoided. Through the Lyapunov stability theory, it is proved that the designed ADRC can achieve system asymptotic stability. Finally, the active disturbance rejection performance and robustness were verified by a numerical simulation example.

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References(14)

References

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