Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers.

• Tác giả: Jiapeng Chen, Yuyuan Huang, Hailong Pei, Liping Wang, Yongbin Zhu
• Ngôn ngữ: eng
• Ký hiệu phân loại: 352.538 *Contracting for services
• Thông tin xuất bản: United States : ISA transactions , 2025
• Bộ sưu tập: NCBI
• ID: 719052
• Chủ đề: 1. Geometric; 2. Attitude; 3. Tracking

Tóm tắt

This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme.