Cascaded Extended-State-Observer-Based Synergetic Control for Quadcopter Translational Dynamics

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Saif Sinan, Jawhar Ghommam, Maarouf Saad, Raouf Fareh, Maamar Bettayeb
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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.

Abstract Image

基于扩展状态观测器的级联四轴飞行器平移动力学协同控制
提出了一种利用级联扩展状态观测器(CESO)与协同控制相结合的四轴飞行器位置控制方法。该控制策略通过对气动干扰和阻力的估计和补偿,在很大程度上提高了四轴飞行器的稳定性和跟踪精度,而气动干扰和阻力是难以测量或分析建模的。随着级联结构级别的增加,这种程度也会增加,从而逐步提高精度和补偿能力。本文介绍了一种有效的调谐方法,用于在级联结构中调谐多个eso,该结构使用分层增益减小,确保每个观测器的频率范围不同。这实现了快速的初始估计,同时减少了后期阶段的噪声,增强了稳定性和鲁棒性。CESO框架与协同控制相结合,提供了一个鲁棒的解决方案,最小化均方误差和控制努力,同时提高抗扰性。采用PX4-ROS2架构在Gazebo和定制的四轴飞行器上对系统进行了实验测试,验证了所提出控制方案的有效性。本研究为无人机先进控制技术的发展做出了重要贡献,强调了在现实场景中的实际实施和适应性。
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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
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.
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