Saif Sinan, Jawhar Ghommam, Maarouf Saad, Raouf Fareh, Maamar Bettayeb
{"title":"Cascaded Extended-State-Observer-Based Synergetic Control for Quadcopter Translational Dynamics","authors":"Saif Sinan, Jawhar Ghommam, Maarouf Saad, Raouf Fareh, Maamar Bettayeb","doi":"10.1002/rob.22566","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>This paper presents an approach to quadcopter position control, utilizing a Cascaded Extended State Observer (CESO) integrated with synergetic control. The proposed control strategy enhances the quadcopter's stability and tracking accuracy by estimating and compensating for aerodynamic disturbances and drag forces to a significant extent, which are challenging to measure or model analytically. This extent increases as the levels of the cascaded structure grow, progressively enhancing both accuracy and compensation capability. An efficient tuning approach is introduced in the paper for tuning multiple ESOs in a cascaded structure that uses hierarchical gain reduction, ensuring distinct frequency ranges for each observer. This achieves a rapid initial estimation while reducing noise in later stages, enhancing stability and robustness. The CESO framework, combined with synergetic control, offers a robust solution, minimizing mean squared error and control effort while improving disturbance rejection. The PX4-ROS2 architecture was used to test our system in Gazebo and on a custom-built quadcopter experimentally, validating the efficacy of the proposed control scheme. This study contributes significantly to the development of advanced control techniques for unmanned aerial vehicles, emphasizing practical implementation and adaptability in real-world scenarios.</p>\n </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3153-3171"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22566","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents an approach to quadcopter position control, utilizing a Cascaded Extended State Observer (CESO) integrated with synergetic control. The proposed control strategy enhances the quadcopter's stability and tracking accuracy by estimating and compensating for aerodynamic disturbances and drag forces to a significant extent, which are challenging to measure or model analytically. This extent increases as the levels of the cascaded structure grow, progressively enhancing both accuracy and compensation capability. An efficient tuning approach is introduced in the paper for tuning multiple ESOs in a cascaded structure that uses hierarchical gain reduction, ensuring distinct frequency ranges for each observer. This achieves a rapid initial estimation while reducing noise in later stages, enhancing stability and robustness. The CESO framework, combined with synergetic control, offers a robust solution, minimizing mean squared error and control effort while improving disturbance rejection. The PX4-ROS2 architecture was used to test our system in Gazebo and on a custom-built quadcopter experimentally, validating the efficacy of the proposed control scheme. This study contributes significantly to the development of advanced control techniques for unmanned aerial vehicles, emphasizing practical implementation and adaptability in real-world scenarios.
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.