Design and Verification of Attitude Tracking Robust Controller for Overdriven Quadrotor Aircraft Experimental Platform

The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and angular velocity cannot be measured, and the motor also has dead zone and saturation nonlinear characteristics. First, a linear perturbed double...

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Published inHangkong Bingqi Vol. 30; no. 6; pp. 96 - 108
Main Author Peng Chen, Wang Shuo, Pu Hongyu, Wu Qixuan, Zhang Peng, He Xiaohua, Zhang Jinpeng
Format Journal Article
LanguageChinese
Published Editorial Office of Aero Weaponry 01.12.2023
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Abstract The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and angular velocity cannot be measured, and the motor also has dead zone and saturation nonlinear characteristics. First, a linear perturbed double-integral model of the platform is established. Afterwards, an attitude-tracking robust controller including a proportional-integral-derivative nominal controller and an adaptive extended state observer (AESO) is designed. Among them, the nominal controller is used to ensure the asymptotic stability of the nominal closed-loop system, and AESO is used to estimate the angular velocity and disturbance information of the experimental platform to solve the problem of no velocity measurement and disturbance suppression. Moreover, the overdrive control allocation problem is solved by using the pseudo-inverse matrix method. In addition, an auxiliary system is constructed to weaken the influence of the motor’s dead zone and
AbstractList The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and angular velocity cannot be measured, and the motor also has dead zone and saturation nonlinear characteristics. First, a linear perturbed double-integral model of the platform is established. Afterwards, an attitude-tracking robust controller including a proportional-integral-derivative nominal controller and an adaptive extended state observer (AESO) is designed. Among them, the nominal controller is used to ensure the asymptotic stability of the nominal closed-loop system, and AESO is used to estimate the angular velocity and disturbance information of the experimental platform to solve the problem of no velocity measurement and disturbance suppression. Moreover, the overdrive control allocation problem is solved by using the pseudo-inverse matrix method. In addition, an auxiliary system is constructed to weaken the influence of the motor’s dead zone and
Author Peng Chen, Wang Shuo, Pu Hongyu, Wu Qixuan, Zhang Peng, He Xiaohua, Zhang Jinpeng
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  fullname: Peng Chen, Wang Shuo, Pu Hongyu, Wu Qixuan, Zhang Peng, He Xiaohua, Zhang Jinpeng
  organization: 1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China;2. AVIC Jiangxi Hongdu Aviation Industry Group Company, Nanchang 330096, China;3. China Airborne Missile Academy, Luoyang 471009, China;4. National Key Laboratory of Air-based Information Perception and Fusion, Luoyang 471009, China
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Snippet The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and...
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SubjectTerms overdriven quadrotor aircraft|pseudo-inverse matrix|aeso|dead zone|saturation
Title Design and Verification of Attitude Tracking Robust Controller for Overdriven Quadrotor Aircraft Experimental Platform
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