Active disturbance compensating tracking control of an unmanned quadrotor helicopter

Zhixiang Liu; Xiang Yu; Chi Yuan; Youmin Zhang; Jun Luo

doi:10.1115/DETC2015-46998

Active disturbance compensating tracking control of an unmanned quadrotor helicopter

Zhixiang Liu
, Xiang Yu
, Chi Yuan
, Youmin Zhang^*
, Jun Luo

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

Original language	English
Title of host publication	2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791857199
DOIs	https://doi.org/10.1115/DETC2015-46998
State	Published - 2015
Externally published	Yes
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	9

Conference

Conference	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/Territory	United States
City	Boston
Period	2/08/15 → 5/08/15

Access to Document

10.1115/DETC2015-46998

Cite this

Liu, Z., Yu, X., Yuan, C., Zhang, Y., & Luo, J. (2015). Active disturbance compensating tracking control of an unmanned quadrotor helicopter. In 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (Proceedings of the ASME Design Engineering Technical Conference; Vol. 9). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-46998

@inproceedings{64f5e6a9af184aaf954e582ad5d1c124,

title = "Active disturbance compensating tracking control of an unmanned quadrotor helicopter",

abstract = "In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.",

author = "Zhixiang Liu and Xiang Yu and Chi Yuan and Youmin Zhang and Jun Luo",

note = "Publisher Copyright: {\textcopyright} Copyright 2015 by ASME.; ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

doi = "10.1115/DETC2015-46998",

language = "英语",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications",

address = "美国",

}

Liu, Z, Yu, X, Yuan, C, Zhang, Y & Luo, J 2015, Active disturbance compensating tracking control of an unmanned quadrotor helicopter. in 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Proceedings of the ASME Design Engineering Technical Conference, vol. 9, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 2/08/15. https://doi.org/10.1115/DETC2015-46998

Active disturbance compensating tracking control of an unmanned quadrotor helicopter. / Liu, Zhixiang; Yu, Xiang; Yuan, Chi et al.
2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. American Society of Mechanical Engineers (ASME), 2015. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 9).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Active disturbance compensating tracking control of an unmanned quadrotor helicopter

AU - Liu, Zhixiang

AU - Yu, Xiang

AU - Yuan, Chi

AU - Zhang, Youmin

AU - Luo, Jun

PY - 2015

Y1 - 2015

N2 - In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

AB - In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

UR - https://www.scopus.com/pages/publications/84979021576

U2 - 10.1115/DETC2015-46998

DO - 10.1115/DETC2015-46998

M3 - 会议稿件

AN - SCOPUS:84979021576

T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015

Y2 - 2 August 2015 through 5 August 2015

ER -

Active disturbance compensating tracking control of an unmanned quadrotor helicopter

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this