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Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

Aws Abdulsalam Najm (Electrical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq)
Ibraheem Kasim Ibraheem (Electrical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq)
Amjad J. Humaidi (Control and Systems Engineering, University of Technology, Baghdad, Iraq)
Ahmad Taher Azar (College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia) (Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt)

International Journal of Intelligent Unmanned Systems

ISSN: 2049-6427

Article publication date: 16 March 2021

68

Abstract

Purpose

The hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.

Design/methodology/approach

IADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the xy position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.

Findings

Different tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.

Originality/value

The study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.

Keywords

Acknowledgements

Conflict of interest: the authors declare that they have no conflict of interest.

Citation

Najm, A.A., Kasim Ibraheem, I., Humaidi, A.J. and Azar, A.T. (2021), "Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control", International Journal of Intelligent Unmanned Systems, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/IJIUS-09-2020-0059

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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