Design and Verification of Attitude Tracking Robust Controller for Overdriven Quadrotor Aircraft Experimental Platform

Abstract

The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and angular velocity cannot be measured, and the motor also has dead zone and saturation nonlinear characteristics. First, a linear perturbed double-integral model of the platform is established. Afterwards, an attitude-tracking robust controller including a proportional-integral-derivative nominal controller and an adaptive extended state observer (AESO) is designed. Among them, the nominal controller is used to ensure the asymptotic stability of the nominal closed-loop system, and AESO is used to estimate the angular velocity and disturbance information of the experimental platform to solve the problem of no velocity measurement and disturbance suppression. Moreover, the overdrive control allocation problem is solved by using the pseudo-inverse matrix method. In addition, an auxiliary system is constructed to weaken the influence of the motor’s dead zone and saturated nonlinear characteristics. Finally, the simulation and experiments verify that the proposed control strategy can effectively solve the problems caused by the dead zone and saturation characteristics of the motor, and can simultaneously take into account the transient overshoot and steady-state error performance of the closed-loop system.

Keywords

• |overdriven quadrotor aircraft|pseudo-inverse matrix|aeso|dead zone|saturation