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    Active Disturbance Rejection Control for the Robust Flight of a Passively Tilted Hexarotor

    Active Disturbance Rejection Control for the Robust Flight of a Passively Tilted Hexarotor

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    This paper presents a robust control strategy for controlling the flight of an unmanned aerial vehicle (UAV) with a passively (fixed) tilted hexarotor. The proposed controller is based on a robust extended-state observer to estimate and reject internal dynamics and external disturbances at runtime. Both the stability and convergence of the observer are proved using Lyapunov-based perturbation theory and an ultimate bound approach. Such a controller is implemented within a highly realistic simulation environment that includes physics motors, showing an almost identical behavior to that of a real UAV. The controller was tested for flying under normal conditions and in the presence of different types of disturbances, showing successful results. Furthermore, the proposed control system was compared with another robust control approach, and it presented a better performance regarding the attenuation of the error signals.

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    Titel :

    Active Disturbance Rejection Control for the Robust Flight of a Passively Tilted Hexarotor

    Beteiligte:
    Santos Miguel Orozco Soto (Autor:in) / Jonathan Cacace (Autor:in) / Fabio Ruggiero (Autor:in) / Vincenzo Lippiello (Autor:in)
    Erschienen in:

    Drones, Vol 6, Iss 9, p 258 (2022)

    Erscheinungsdatum :

    2022

    ISSN :

    2504-446X

    DOI :

    https://doi.org/10.3390/drones6090258

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Elektronische Ressource

    Sprache :

    Unbekannt

    Schlagwörter :

    passively tilted hexarotor , robust UAV control , active disturbance rejection control , sliding-mode extended-state observer , Motor vehicles. Aeronautics. Astronautics , TL1-4050

    Metadata by DOAJ is licensed under ​CC BY-SA 1.0

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