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Active Disturbance Compensating Tracking Control of an Unmanned Quadrotor Helicopter

[+] Author Affiliations
Zhixiang Liu, Xiang Yu, Chi Yuan

Concordia University, Montreal, QC, Canada

Youmin Zhang

Xi’an University of Technology, Xi’an, Shaanxi, ChinaConcordia University, Montreal, QC, Canada

Jun Luo

Shanghai University, Shanghai, China

Paper No. DETC2015-46998, pp. V009T07A094; 7 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

Copyright © 2015 by ASME



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