Active Disturbance Rejection Optimal Control for Quadrotors

Abdul Wahid A. Saif; Abdulmajeed M. Kabir; Sami Elferik

doi:10.1109/SSD49366.2020.9364146

Active Disturbance Rejection Optimal Control for Quadrotors

Abdul Wahid A. Saif
, Abdulmajeed M. Kabir
, Sami Elferik

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this work, the altitude control of a quadrotor unmanned aerial vehicle is treated using its altitude dynamics in hover mode. Due to persistent aerodynamic disturbances, the control of a quadrotor unit is cumbersome; especially, the ground wake effect which comes into play during landing. In this work, an Active Disturbance Rejection and Optimal Controller (ADROC) modified from an Active disturbance rejection controller (ADRC) is proposed to compensate for undesirable effects resulting in smoother control. The adaptation of the ADRC controller is governed by a Least-Means-Square (LMS) algorithm on the extended state observer (ESO). The ESO linearizes the system and finally, an LQR policy is utilized to find optimal control signal for landing and take-off of the quadrotor.

Original language	English
Title of host publication	Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1110-1115
Number of pages	6
ISBN (Electronic)	9781728110806
DOIs	https://doi.org/10.1109/SSD49366.2020.9364146
State	Published - 20 Jul 2020

Publication series

Name	Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

ADRC
Controller
ESO
LMS
LQR
Quadrotor

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Signal Processing
Electrical and Electronic Engineering
Instrumentation

Access to Document

10.1109/SSD49366.2020.9364146

Cite this

Saif, A. W. A., Kabir, A. M., & Elferik, S. (2020). Active Disturbance Rejection Optimal Control for Quadrotors. In Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020 (pp. 1110-1115). Article 9364146 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD49366.2020.9364146

Saif, Abdul Wahid A. ; Kabir, Abdulmajeed M. ; Elferik, Sami. / Active Disturbance Rejection Optimal Control for Quadrotors. Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1110-1115 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020).

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title = "Active Disturbance Rejection Optimal Control for Quadrotors",

abstract = "In this work, the altitude control of a quadrotor unmanned aerial vehicle is treated using its altitude dynamics in hover mode. Due to persistent aerodynamic disturbances, the control of a quadrotor unit is cumbersome; especially, the ground wake effect which comes into play during landing. In this work, an Active Disturbance Rejection and Optimal Controller (ADROC) modified from an Active disturbance rejection controller (ADRC) is proposed to compensate for undesirable effects resulting in smoother control. The adaptation of the ADRC controller is governed by a Least-Means-Square (LMS) algorithm on the extended state observer (ESO). The ESO linearizes the system and finally, an LQR policy is utilized to find optimal control signal for landing and take-off of the quadrotor.",

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language = "English",

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Saif, AWA, Kabir, AM & Elferik, S 2020, Active Disturbance Rejection Optimal Control for Quadrotors. in Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020., 9364146, Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1110-1115. https://doi.org/10.1109/SSD49366.2020.9364146

Active Disturbance Rejection Optimal Control for Quadrotors. / Saif, Abdul Wahid A.; Kabir, Abdulmajeed M.; Elferik, Sami.
Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1110-1115 9364146 (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Active Disturbance Rejection Optimal Control for Quadrotors

AU - Saif, Abdul Wahid A.

AU - Kabir, Abdulmajeed M.

AU - Elferik, Sami

PY - 2020/7/20

Y1 - 2020/7/20

N2 - In this work, the altitude control of a quadrotor unmanned aerial vehicle is treated using its altitude dynamics in hover mode. Due to persistent aerodynamic disturbances, the control of a quadrotor unit is cumbersome; especially, the ground wake effect which comes into play during landing. In this work, an Active Disturbance Rejection and Optimal Controller (ADROC) modified from an Active disturbance rejection controller (ADRC) is proposed to compensate for undesirable effects resulting in smoother control. The adaptation of the ADRC controller is governed by a Least-Means-Square (LMS) algorithm on the extended state observer (ESO). The ESO linearizes the system and finally, an LQR policy is utilized to find optimal control signal for landing and take-off of the quadrotor.

AB - In this work, the altitude control of a quadrotor unmanned aerial vehicle is treated using its altitude dynamics in hover mode. Due to persistent aerodynamic disturbances, the control of a quadrotor unit is cumbersome; especially, the ground wake effect which comes into play during landing. In this work, an Active Disturbance Rejection and Optimal Controller (ADROC) modified from an Active disturbance rejection controller (ADRC) is proposed to compensate for undesirable effects resulting in smoother control. The adaptation of the ADRC controller is governed by a Least-Means-Square (LMS) algorithm on the extended state observer (ESO). The ESO linearizes the system and finally, an LQR policy is utilized to find optimal control signal for landing and take-off of the quadrotor.

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KW - LQR

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T3 - Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020

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Saif AWA, Kabir AM, Elferik S. Active Disturbance Rejection Optimal Control for Quadrotors. In Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1110-1115. 9364146. (Proceedings of the 17th International Multi-Conference on Systems, Signals and Devices, SSD 2020). doi: 10.1109/SSD49366.2020.9364146

Active Disturbance Rejection Optimal Control for Quadrotors

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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