Abstract
The paper focuses on controlling a quadrotor unmanned aerial vehicle (UAV). The highly nonlinear dynamics of the system, together with its under-actuated nature and strong cross-couplings, make the quadrotor control a challenging problem. To solve it, a robust strategy based on a concept of active disturbance rejection control (ADRC) is proposed. Its particular, error-based version is used to minimize sensing requirements and thus allows a more practical realization of the altitude/attitude trajectory following task without the availability of reference time derivatives. Three distinct variations of the error-based ADRC algorithms are derived and numerically tested. The findings of this research form a guide for end-users on how to select appropriate ADRC structure for quadrotor control depending on specific performance requirements and working conditions.
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Stankovic, M., Madonski, R., Manojlovic, S., Lechekhab, T.E., Mikluc, D. (2020). Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_112
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DOI: https://doi.org/10.1007/978-3-030-50936-1_112
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