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© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

Aiming at the problems of difficult attitude stabilization, low landing accuracy, large external disturbance and slow dynamic response during the quadrotor dynamic landing on the wave glider, an improved series active disturbance rejection control method for the quadrotor is proposed. The quadrotor controller with inner-loop attitude angular velocity control and outer-loop position control based on the active disturbance rejection controller (ADRC) is designed by analyzing the dynamic model of the quadrotor. A tracking differentiator (TD) is adopted to track the input signal, and an expansive state observer (ESO) is used to estimate the total disturbance. Moreover, a nonlinear law state error feedback (NLSEF) is used to generate the virtual control volume of the system to realize the control of the quadrotor, and the stability of the cascaded self-turbulent controller is verified by Lyapunov’s theory. The simulation verifies that the proposed controller can accurately control the attitude and the position with better anti-interference capability and faster tracking speed. According to the final sea trial, a combination of an active disturbance rejection controller optimized with improved crow search algorithm (ICADRC) and April Tag visual reference system is used to land the quadrotor efficiently and successfully even under the surface float attitude uncertainty.

Details

Title
Dynamic Landing Control of a Quadrotor on the Wave Glider
Author
Lyu, Zhilin 1 ; Ding, Weitao 1   VIAFID ORCID Logo  ; Sun, Xiujun 2 ; Hongqiang Sang 3 ; Zhou, Ying 4 ; Yu, Peiyuan 4 ; Zheng, Lijun 1   VIAFID ORCID Logo 

 School of Electrical Engineering, Guangxi University, Nanning 530004, China; [email protected] (Z.L.); [email protected] (W.D.); [email protected] (L.Z.) 
 Physical Oceanography Laboratory, Ocean University of China, Qingdao 266100, China 
 Tianjin Key Laboratory of Advanced Mechatronic Equipment Technology, School of Mechanical Engineering, Tiangong University, Tianjin 300387, China 
 Institute for Advanced Ocean Study, Ocean University of China, Qingdao 266100, China; [email protected] (Y.Z.); [email protected] (P.Y.) 
First page
1119
Publication year
2021
Publication date
2021
Publisher
MDPI AG
e-ISSN
20771312
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2585287184
Copyright
© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.