Work

GPI observer-based active disturbance rejection control for a morphing quadrotor

Year: 2023

Type: article

Abstract: Quadrotors are widely used in transportation, aerial photography, agricultural protection, and other important fields. Nevertheless, quadrotors with a fixed structure will face great challenges when crossing through or entering narrow spaces for operations. To improve quadrotor crossing ability in different environments, a morphing quadrotor is designed in this paper, and four servo motors are added to independently change four arm rotation angles. Meanwhile, the dynamic model and dynamic control allocation matrix are established. In addition, considering that the internal dynamic variation caused by morphologic changes and external disturbances may compromise system stability, a control method based on the generalized proportional integral (GPI) observer is proposed to increase the system robustness, and the corresponding stability analysis is provided. Finally, simulation results demonstrate the effectiveness of the proposed GPI observer-based active disturbance rejection control method.

Source: Intelligence & Robotics

DOI: 10.20517/ir.2023.18

Authors: Chunhui He, Haosheng Sun, Qingxiang Wu, Yuanhao Su, Ning Sun

Institution: Nankai University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Funders: National Natural Science Foundation of China, China Postdoctoral Science Foundation, State Key Laboratory of Robotics

Awards: G1133310820, G1345175226, G5279395056