Attitude tracking of UAV based on nonlinear disturbance rejection control

Author

Huang Tingguo ; Su Jianbo

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2014

fDate

28-30 July 2014

Firstpage

3740

Lastpage

3745

Abstract

For the attitude tracking problem of the UVA, the controller is proposed to make the system attitute follow the reference with the consideration of model uncertainty and external disturbance. Firstly, based on the attitude dynamics of the servo system, the nonlinear error model is established by the quaternion. Then, a nonlinear generalized predictive controller is designed based on the error model, the NDOB is used to estimate system uncertainty and disturbance. At last the performance of NDOB is analyzed by the theory of frequency domain. The experiment results suggest the validity of the proposed method in this paper.

Keywords

autonomous aerial vehicles; control system synthesis; frequency-domain analysis; nonlinear control systems; predictive control; servomechanisms; uncertain systems; NDOB; UAV; attitude tracking; external disturbance; frequency domain theory; model uncertainty; nonlinear disturbance rejection control; nonlinear error model; nonlinear generalized predictive controller design; quaternion; servo system attitude dynamics; system uncertainty estimation; unmanned aerial vehicles; Attitude control; Automation; Educational institutions; Electronic mail; Observers; Quaternions; Uncertainty; UAV; attitude tracking control; nonlinear disturbance observer; nonlinear generalized predictive controller; quaternion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6895562

Filename

6895562