Robust tracking control for a quadrotor UAV via DOBC approach

Yu Cheng; Lei Jiang; Tao Li; Lei Guo

doi:10.1109/CCDC.2018.8407194

Robust tracking control for a quadrotor UAV via DOBC approach

Yu Cheng
, Lei Jiang
, Tao Li
, Lei Guo

School of Automation Science and Electrical Engineering

Beihang University
Nanjing University of Information Science & Technology

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

8 Scopus citations

Abstract

The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H_∞ control. Finally, the simulation results show the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	559-563
Number of pages	5
ISBN (Electronic)	9781538612439
DOIs	https://doi.org/10.1109/CCDC.2018.8407194
State	Published - 6 Jul 2018
Event	30th Chinese Control and Decision Conference, CCDC 2018 - Shenyang, China Duration: 9 Jun 2018 → 11 Jun 2018

Publication series

Name	Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

Conference

Conference	30th Chinese Control and Decision Conference, CCDC 2018
Country/Territory	China
City	Shenyang
Period	9/06/18 → 11/06/18

Keywords

Disturbance observer
Interval matrix
Quadrotor UAV
Robust H control
Trajectory tracking

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10.1109/CCDC.2018.8407194

Cite this

Cheng, Y., Jiang, L., Li, T., & Guo, L. (2018). Robust tracking control for a quadrotor UAV via DOBC approach. In Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018 (pp. 559-563). (Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2018.8407194

@inproceedings{417ac5cee6da42f58459f90178fbc3d4,

title = "Robust tracking control for a quadrotor UAV via DOBC approach",

abstract = "The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞ control. Finally, the simulation results show the effectiveness of the proposed method.",

keywords = "Disturbance observer, Interval matrix, Quadrotor UAV, Robust H control, Trajectory tracking",

author = "Yu Cheng and Lei Jiang and Tao Li and Lei Guo",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 30th Chinese Control and Decision Conference, CCDC 2018 ; Conference date: 09-06-2018 Through 11-06-2018",

year = "2018",

month = jul,

day = "6",

doi = "10.1109/CCDC.2018.8407194",

language = "英语",

series = "Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "559--563",

booktitle = "Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018",

address = "美国",

}

Cheng, Y, Jiang, L, Li, T & Guo, L 2018, Robust tracking control for a quadrotor UAV via DOBC approach. in Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018. Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 559-563, 30th Chinese Control and Decision Conference, CCDC 2018, Shenyang, China, 9/06/18. https://doi.org/10.1109/CCDC.2018.8407194

Robust tracking control for a quadrotor UAV via DOBC approach. / Cheng, Yu; Jiang, Lei; Li, Tao et al.
Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 559-563 (Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018).

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

TY - GEN

T1 - Robust tracking control for a quadrotor UAV via DOBC approach

AU - Cheng, Yu

AU - Jiang, Lei

AU - Li, Tao

AU - Guo, Lei

PY - 2018/7/6

Y1 - 2018/7/6

N2 - The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞ control. Finally, the simulation results show the effectiveness of the proposed method.

AB - The robust tracking control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) with perturbation parameters and external disturbances. Firstly, the dynamic model of quadrotor UAV is decoupled into two subsystems, which are outer loop position control system and the inner loop angle control system, respectively. Secondly, by using the interval matrices to describe the perturbation parameters, the considered control problem is transformed into robust control with uncertainties. Based on these, an effective tracking composite control strategy is proposed by combining disturbance observer control (DOBC) with H∞ control. Finally, the simulation results show the effectiveness of the proposed method.

KW - Disturbance observer

KW - Interval matrix

KW - Quadrotor UAV

KW - Robust H control

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/85050878456

U2 - 10.1109/CCDC.2018.8407194

DO - 10.1109/CCDC.2018.8407194

M3 - 会议稿件

AN - SCOPUS:85050878456

T3 - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

SP - 559

EP - 563

BT - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th Chinese Control and Decision Conference, CCDC 2018

Y2 - 9 June 2018 through 11 June 2018

ER -

Robust tracking control for a quadrotor UAV via DOBC approach

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