access icon free Active disturbance rejection and predictive control strategy for a quadrotor helicopter

In this study, an active disturbance rejection and predictive control strategy is presented to solve the trajectory tracking problem for an unmanned quadrotor helicopter with disturbances. The proposed control scheme is based on the quadrotor's dynamic model, where effects of wind gust are considered as additive disturbances on six degrees of freedom. The predictive controller solves the path following problem with extended state observers to estimate and compensate disturbances. The active disturbance rejection control scheme is used for the stabilisation of rotational movements. The suggested control structure is verified in simulation studies with the presence of external disturbances and parametric uncertainties. The proposed method improves the robustness for the modelling error and disturbances while performing a smooth tracking of the reference trajectory.

Inspec keywords: trajectory control; robust control; predictive control; autonomous aerial vehicles; helicopters; robot dynamics; active disturbance rejection control; observers

Other keywords: reference trajectory tracking; active disturbance rejection control strategy; disturbance estimation; rotational movement stabilisation; wind gust; predictive control strategy; unmanned quadrotor helicopter; disturbance compensation; quadrotor dynamic model; error modelling; extended state observers; trajectory tracking problem

Subjects: Mobile robots; Aerospace control; Simulation, modelling and identification; Robot and manipulator mechanics; Stability in control theory; Telerobotics; Optimal control; Spatial variables control

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