Adaptive trajectory tracking controller design for a quadrotor UAV with payload variation  

作　　者：Shuai An Suozhong Yuan Huadong Li 

机构地区：[1]Department of Automation,College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,China

出　　处：《International Journal of Intelligent Computing and Cybernetics》2018年第4期496-510,共15页智能计算与控制论国际期刊（英文）

基　　金：This work was partially supported by the National Natural Science Foundation of China(Grant No.61273050).496。

摘　　要：Purpose-The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor,which is used for goods distribution in huge warehouses,under time-varying payload and external wind disturbance.Design/methodology/approach-A trajectory tracking controller design based on the combination of an adaptive sliding mode control(ASMC)method and the active disturbance rejection control(ADRC)technique is proposed.Besides,an inner-outer loop control system structure is adopted.Findings–Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions,including parameter uncertainty and external wind disturbance.The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance.Originality/value-The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.

关 键 词：Trajectory tracking Active disturbance rejection control Adaptive sliding mode control Quadrotor UAV 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]