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research-article

UDE-based Robust Trajectory Tracking Control for a Quadrotor in a GPS-denied Environment

[+] Author and Article Information
Qi Lu

Dept. of Mechanical Engineering, Texas Tech University, Lubbock, Texas 79409
qi.lu@ttu.edu

Beibei Ren

Dept. of Mechanical Engineering, Texas Tech University, Lubbock, Texas 79409
beibei.ren@ttu.edu

Siva Parameswaran

Dept. of Mechanical Engineering, Texas Tech University, Lubbock, Texas 79409
siva.parameswaran@ttu.edu

Qing-Chang Zhong

Dept. of Electrical and Computer Engineering, Illinois Institute of Technology, Chicago, IL 60616
zhongqc@ieee.org

1Corresponding author.

ASME doi:10.1115/1.4037736 History: Received March 21, 2016; Revised August 16, 2017

Abstract

This paper addresses the problem of autonomous trajectory tracking control for a quadrotor in a GPS-denied environment using only onboard sensing. To achieve that goal, it requires accurate estimation of quadrotor states followed by proper control actions. For the position estimation in a GPS-denied environment, an open source high speed optical flow sensor PX4FLOW is adopted. As for the quadrotor control, there are several challenges due to its highly nonlinear system dynamics, such as underactuation, coupling, model uncertainties and external disturbances. To deal with those challenges, the cascaded inner-outer uncertainty and disturbance estimator (UDE)-based robust control scheme has been developed and applied to the attitude and position control of a quadrotor. Extensive real flight experiments, including attitude stabilization, hover, disturbance rejection, trajectory tracking and comparison with the PID controller are carried out to demonstrate the effectiveness of the developed UDE-based controllers.

Copyright (c) 2017 by ASME
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