A Robust Control for an Aerial Robot Quadrotor under Wind Gusts
A robust flight controller based on linear active disturbance rejection control (LADRC) is proposed for stability control of an aerial robot quadrotor under wind gusts. The nonlinear dynamical model of the quadrotor, considering the wind disturbance, is firstly established through Newton-Euler metho...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/5607362 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832553676297732096 |
|---|---|
| author | Li Ding Zhenwei Wang |
| author_facet | Li Ding Zhenwei Wang |
| author_sort | Li Ding |
| collection | DOAJ |
| description | A robust flight controller based on linear active disturbance rejection control (LADRC) is proposed for stability control of an aerial robot quadrotor under wind gusts. The nonlinear dynamical model of the quadrotor, considering the wind disturbance, is firstly established through Newton-Euler method. Subsequently, a robust LADRC technique is proposed to design the controllers for the inner loop and outer loop of the aircraft. In this control scheme, the linear extended state observer (LESO) serves as a compensator which can effectively reject the wind gusts. Then, a method of parameter tuning is introduced to obtain the optimized control performance. Finally, the effectiveness and advantages of the proposed controller are demonstrated through series of simulation case. |
| format | Article |
| id | doaj-art-48be7c294c2640e98b3dda74d07ef928 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-48be7c294c2640e98b3dda74d07ef9282025-02-03T05:53:32ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/56073625607362A Robust Control for an Aerial Robot Quadrotor under Wind GustsLi Ding0Zhenwei Wang1College of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaA robust flight controller based on linear active disturbance rejection control (LADRC) is proposed for stability control of an aerial robot quadrotor under wind gusts. The nonlinear dynamical model of the quadrotor, considering the wind disturbance, is firstly established through Newton-Euler method. Subsequently, a robust LADRC technique is proposed to design the controllers for the inner loop and outer loop of the aircraft. In this control scheme, the linear extended state observer (LESO) serves as a compensator which can effectively reject the wind gusts. Then, a method of parameter tuning is introduced to obtain the optimized control performance. Finally, the effectiveness and advantages of the proposed controller are demonstrated through series of simulation case.http://dx.doi.org/10.1155/2018/5607362 |
| spellingShingle | Li Ding Zhenwei Wang A Robust Control for an Aerial Robot Quadrotor under Wind Gusts Journal of Robotics |
| title | A Robust Control for an Aerial Robot Quadrotor under Wind Gusts |
| title_full | A Robust Control for an Aerial Robot Quadrotor under Wind Gusts |
| title_fullStr | A Robust Control for an Aerial Robot Quadrotor under Wind Gusts |
| title_full_unstemmed | A Robust Control for an Aerial Robot Quadrotor under Wind Gusts |
| title_short | A Robust Control for an Aerial Robot Quadrotor under Wind Gusts |
| title_sort | robust control for an aerial robot quadrotor under wind gusts |
| url | http://dx.doi.org/10.1155/2018/5607362 |
| work_keys_str_mv | AT liding arobustcontrolforanaerialrobotquadrotorunderwindgusts AT zhenweiwang arobustcontrolforanaerialrobotquadrotorunderwindgusts AT liding robustcontrolforanaerialrobotquadrotorunderwindgusts AT zhenweiwang robustcontrolforanaerialrobotquadrotorunderwindgusts |