Trajectory tracking control of an aerial robot based on linear active disturbance rejection control approach

摘要

This article presents a modeling and control technique for an aerial robot system, composed by a hex-rotor equipped with a robotic manipulator. The goal is to ensure the aerial robot to manage the tasks of trajectory tracking control. In detail, the kinematical and dynamical models of the aerial robot based on Lagrange-Euler equations are firstly developed. Subsequently, a linear active disturbance rejection control (LADRC) strategy is designed under the lumped disturbance. In this control scheme, the linear extended state observer servers as a compensator, which can effectively reject parameter uncertainties and external disturbance. Then, the parameters tuning of the LADRC using artificial bee colony algorithm is presented, which guarantees the good performance of the proposed controller. Finally, the effectiveness and advantages of our control strategy are demonstrated through series of simulation and experiment.