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Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control.

Siyu Ren1, Liuping Wang1, Robin Ping Guan1

  • 1School of Engineering, RMIT University, Melbourne, Victoria, Australia.

Peerj. Computer Science
|March 4, 2024
PubMed
Summary

This study demonstrates how Disturbance Observer-based Control (DOBC) enhances quadcopter trajectory tracking. The DOBC algorithm effectively compensates for disturbances and uncertainties, improving flight path accuracy.

Keywords:
Disturbance observerInput disturbance compensationPredictive controlQuadcopter mathematical model

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering
  • Applied Mathematics

Background:

  • Quadcopter control is challenged by inherent system disturbances and model uncertainties.
  • Accurate trajectory tracking is crucial for quadcopter applications, including navigation and aerial tasks.

Purpose of the Study:

  • To investigate the effectiveness of the Disturbance Observer-based Control (DOBC) algorithm for quadcopter trajectory tracking.
  • To assess the ability of DOBC to compensate for model uncertainties and external disturbances.

Main Methods:

  • A six degrees-of-freedom dynamic model of the quadcopter was developed, incorporating disturbances and uncertainties.
  • The Disturbance Observer-based Control (DOBC) algorithm was implemented by integrating disturbance estimation at the input variables.
  • Simulations were conducted using MATLAB to evaluate performance across various trajectories, from straight paths to complex spirals.

Main Results:

  • The DOBC algorithm demonstrated successful tracking of specified reference trajectories in three-dimensional space.
  • Simulations confirmed the algorithm's efficacy in compensating for disturbances and model uncertainties.
  • The quadcopter exhibited improved trajectory tracking accuracy under the influence of the DOBC control strategy.

Conclusions:

  • The Disturbance Observer-based Control (DOBC) algorithm is a highly effective method for enhancing quadcopter trajectory tracking.
  • DOBC significantly mitigates the impact of disturbances and uncertainties, leading to more precise flight control.
  • This research validates the practical application of DOBC for robust quadcopter navigation and control.