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Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control

Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance... An improved active disturbance rejection control (IADRC) is proposed to stabilize and reject exogenous disturbances and system uncertainties for a 6-degree of freedom (DOF) quadrotor system. We used the nonlinear model of the 6-DOF quadrotor system to design four IADRC units for the altitude and attitude stabilization. Stability analysis is demonstrated for both the extended state observers of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. The simulations are implemented under the MATLAB environment where the parameters of the IADRC units are tuned to minimize the multi-objective output performance index. The unmanned aerial vehicle is tested with different tracking scenarios while subjected to exogenous disturbances and system parameter uncertainties. The performance of the proposed IADRC is compared with that of the PID controller, and the simulations revealed that the proposed IADRC scheme stabilized and excellently counteracted the exogenous disturbances and system uncertainties and outperformed the PID used in this work. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Arabian Journal for Science and Engineering Springer Journals

Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control

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References (31)

Publisher
Springer Journals
Copyright
Copyright © King Fahd University of Petroleum & Minerals 2020
ISSN
1319-8025
eISSN
2191-4281
DOI
10.1007/s13369-020-04355-3
Publisher site
See Article on Publisher Site

Abstract

An improved active disturbance rejection control (IADRC) is proposed to stabilize and reject exogenous disturbances and system uncertainties for a 6-degree of freedom (DOF) quadrotor system. We used the nonlinear model of the 6-DOF quadrotor system to design four IADRC units for the altitude and attitude stabilization. Stability analysis is demonstrated for both the extended state observers of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. The simulations are implemented under the MATLAB environment where the parameters of the IADRC units are tuned to minimize the multi-objective output performance index. The unmanned aerial vehicle is tested with different tracking scenarios while subjected to exogenous disturbances and system parameter uncertainties. The performance of the proposed IADRC is compared with that of the PID controller, and the simulations revealed that the proposed IADRC scheme stabilized and excellently counteracted the exogenous disturbances and system uncertainties and outperformed the PID used in this work.

Journal

Arabian Journal for Science and EngineeringSpringer Journals

Published: Mar 1, 2020

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