Attitude control for quadrotors subjected to wind disturbances via active disturbance rejection control and integral sliding mode control

• Published in: Mechanical systems and signal processing Vol. 129; pp. 531 - 545
• Main Authors: Zhao, Ling, Dai, Liuwei, Xia, Yuanqing, Li, Peng
• Format: Journal Article
• Language: English
• Published: Berlin Elsevier Ltd 15.08.2019; Elsevier BV
• Subjects: Active control; Active disturbance rejection control; Attitude control; Disturbances; Integral sliding mode control; Integrals; Nonlinear control; Quadrotors; Rejection; Rotary wing aircraft; Sliding mode control; State observers; Strategy; Tracking errors; Wind disturbances; Wind effects; Integral sliding mode control; Attitude control; Active disturbance rejection control; Wind disturbances; Quadrotors
• ISSN: 0888-3270; 1096-1216
• DOI: 10.1016/j.ymssp.2019.04.040

•A double closed-loop attitude control strategy is proposed for a quadrotor.•A NESO is designed in the inner loop to estimate total disturbances in real time.•Experimental results are obtained to demonstrate effectiveness of the proposed method. In this paper, attitude control is investigated for a quadrotor subjected to wind disturbances based on a double closed-loop control strategy. The double closed-loop control strategy integrates advantages of active disturbance rejection control and integral sliding mode control. A nonlinear extended state observer is adopted in the inner loop to estimate internal uncertain dynamics and external wind disturbances timely for the quadrotor. Furthermore, both estimation errors of the nonlinear extended state observer and tracking errors of the double closed-loop control strategy are shown to be convergent through Lyapunov theory. Finally, experimental results are provided to demonstrate effectiveness of the proposed method.