A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 2 Issue 1
Jan.  2015

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Lu Wang and Jianbo Su, "Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 65-73, 2015.
Citation: Lu Wang and Jianbo Su, "Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 65-73, 2015.

Trajectory Tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection Control


This work was supported by National Natural Science Foundation of China (61221003).

  • We investigate the trajectory tracking problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem, respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation. At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy.


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