| Autor: |
José Fermi Guerrero-Castellanos, Sylvain Durand, German Ardul Munoz-Hernandez, Nicolas Marchand, Lorenzo L. González Romeo, Jesús Linares-Flores, Gerardo Mino-Aguilar, Wuiyevaldo F. Guerrero-Sánchez |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 11, Iss 13, p 5960 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app11135960 |
| Popis: |
This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
