Robust Trajectory Tracking for an Uncertain UAV Based on Active Disturbance Rejection
Por:
Blas L.A., Davila J., Salazar S., Bonilla M.
Publicada:
1 ene 2022
Resumen:
This note addresses the design of a robust trajectory tracking controller based on active disturbance rejection for a quadrotor Unmanned Aircraft Vehicle (UAV). A standard state-feedback linearizing controller, designed using a nominal model, is applied for tracking reference signals. An active disturbance rejection technique based on high-order sliding modes compensates for the uncertainties and nonlinearities. Furthermore, this rejection technique provides robustness against uncertainties and external disturbances after a finite transient time. Outdoors experimental results in a prototype illustrate the workability of the proposed methodology. © 2017 IEEE.
Filiaciones:
Blas L.A.:
UMI-LAFMIA, Center for Research and Advanced Studies (CINVESTAV), Mexico City, 07360, Mexico
Davila J.:
Section of Graduate Studies and Research, ESIME-UPT, Instituto Politécnico Nacional, Mexico City, 07340, Mexico
Salazar S.:
UMI-LAFMIA, Center for Research and Advanced Studies (CINVESTAV), Mexico City, 07360, Mexico
Bonilla M.:
Department of Automatic Control, Center for Research and Advanced Studies (CINVESTAV), Mexico City, 07360, Mexico
|