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Research Papers

Robust Control of Quadrotors Based on an Uncertainty and Disturbance Estimator

[+] Author and Article Information
Ricardo Sanz

Instituto de Automática e Informática Industrial,
Universidad Politécnica de Valencia,
Valencia 46022, Spain
e-mail: risanzdi@gmail.com

Pedro Garcia

Instituto de Automática e Informática Industrial,
Universidad Politécnica de Valencia,
Valencia 46022, Spain
e-mail: pggil@isa.upv.es

Qing-Chang Zhong

Department of Electrical and
Computer Engineering,
Illinois Institute of Technology,
Chicago, IL 60616
e-mail: zhongqc@ieee.org

Pedro Albertos

Instituto de Automática e Informática Industrial,
Universidad Politécnica de Valencia,
Valencia 46022, Spain
e-mail: pedro@aii.upv.es

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 22, 2015; final manuscript received March 28, 2016; published online May 13, 2016. Assoc. Editor: Manish Kumar.

J. Dyn. Sys., Meas., Control 138(7), 071006 (May 13, 2016) (8 pages) Paper No: DS-15-1035; doi: 10.1115/1.4033315 History: Received January 22, 2015; Revised March 28, 2016

In this paper, a robust control strategy is proposed to control the attitude and the altitude of quadrotors, based on an uncertainty and disturbance estimator (UDE). It is shown that the proposed controller can be tuned very easily, achieving the desired performance only by selecting an appropriate reference model and tuning a single parameter to tradeoff disturbance rejection with noise amplification in the control signal. The proposed control strategy is extensively validated in real-time applications with an experimental Quanser platform and also with a quadrotor prototype in real flight tests.

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References

Figures

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Fig. 1

Sketch of a 6DOF quadrotor

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Fig. 2

The 3D HOVER system used in experiments

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Fig. 3

Nyquist plots of the system with the PID controller and the UDE-based controller with T = 0.28 s

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Fig. 4

Influence of the parameter T on the disturbance rejection performance and control signal

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Fig. 5

Effect of T in measurement noise attenuation

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Fig. 6

System response comparison with white-noise measurement and a−10 step load disturbance at t = 3 s

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Fig. 7

Disturbance rejection comparison for similar reference tracking performance: PID (roll) and UDE (pitch)

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Fig. 8

Robustness comparison for similar reference tracking performance

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Fig. 9

The quadrotor used in real flight tests

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Fig. 10

Real flight test of hovering: UDE for roll and PID for pitch (left) and PID for roll and UDE for pitch (right)

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Fig. 11

Disturbance rejection: UDE for roll and PID for pitch (left) and PID for roll and UDE for pitch (right)

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Fig. 12

Full flight test results with the proposed UDE-based control

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