Dataset Information

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

ABSTRACT: This study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter's dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach incorporates the disturbance model into the system by introducing it at the input variables. It then compensates for disturbances to achieve accurate tracking of different reference trajectories. The simulated trajectories span a range of motion, varying from simple straight paths to complex spiral paths. In order to verify and evaluate the efficacy of the suggested control technique, simulations are performed using MATLAB. The simulations conclusively show that the disturbance observer-based method effectively achieves the tracking of specified reference trajectories in three-dimensional space. The study highlights the effectiveness of the DOBC algorithm in reducing the effects of disturbances and uncertainties, thereby improving the quadcopter's capacity to accurately track various trajectories.

SUBMITTER: Ren S

PROVIDER: S-EPMC10909193 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature

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

Ren Siyu S Wang Liuping L Guan Robin Ping RP

PeerJ. Computer science 20240213

This study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter's dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach incorporates the disturbance model into the system by introducing it at the input variables. It then compensates for disturbances to achieve accurate tracking of different reference trajectories. The sim ...[more]

PMID: 38435624

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Project description:Shock absorbers are indispensable components utilized for vibration mitigation in various fields, including construction, bridges, wind power, and pipelines. The shock absorber test bench serves as an essential apparatus for evaluating the dynamic and static characteristics of these absorbers. To address the significant tracking errors between actual and expected displacements during displacement loading on shock absorber damper test benches, a novel control strategy is proposed. This strategy incorporates a robust adaptive controller (RAC) enhanced by a dung beetle optimization (DBO) algorithm and a disturbance observer (DO). The dung beetle optimization algorithm is specifically designed to iteratively optimize the control parameters of the robust adaptive controller. Concurrently, a disturbance observer is implemented to accurately estimate external disturbances and perform feedforward compensation. A mathematical model of the electro-hydraulic servo control system of the test bench is established, and the stability of the proposed controller is rigorously verified using Lyapunov theory. To simulate and analyze the control method for the electro-hydraulic servo system of the test bench, a joint simulation model integrating Simulink and AEMSim is constructed. The performance of the proposed robust adaptive controller with DBO and DO is compared against an unoptimized robust adaptive controller and a traditional PID controller in terms of load displacement tracking. Simulation results demonstrate that the control method proposed in this study significantly outperforms other controllers in enhancing position tracking accuracy and improving system robustness. Furthermore, experimental verification was carried out on the proposed control strategy, compared with unoptimized robust adaptive control, the maximum displacement tracking error was reduced by 54.8%, and the response speed was improved by 36.3%, compared with traditional PID control, the minimum displacement tracking error was reduced by 67.4%, and the response speed was improved by 47.7%. The results confirmed the superior performance of the proposed control method.

Dataset Information

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

Publications

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

Similar Datasets

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