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Fractional Order Extended State Observer Enhances the Performance of Controlled Tri-copter UAV Based on Active Disturbance Rejection Control

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Mobile Robot: Motion Control and Path Planning

Part of the book series: Studies in Computational Intelligence ((SCI,volume 1090))

Abstract

In this chapter, an Active Disturbance Rejection Control (ADRC) is developed to trajectory tracking control of a Tricopter Unmanned Aerial Vehicle (UAV). The extended state observer (ESO) is an essential part of ADRC. The performance of ESO has direct impact on the performance of controlled system. This study addresses the design of ADRC for Tricopter UAV based on three types of extended state observers; one is the fractional order extended state observer (FOESO) and the two others are based on nonlinear extended state observer (NESO) and Super Twisting Extended State Observer (STESO). A performance comparison has been made between the observers in terms of robustness against variation of parameters and the capability to reject applied disturbance. Tunicate Swarm Algorithm Method (TSA) is used to tune the parameters of ADRC to reach minimum error in order to further improve the dynamic performance of the controlled system. Numerical simulations have been conducted to assess the effectiveness of proposed ADRC based on FOESO in the presence of uncertainty and external disturbance.

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Abbreviations

φ :

Roll angle (rad)

θ :

Pitch angle (rad)

ψ :

Yaw angle (rad)

x :

The position of the Tricopter on x-axis (m)

y :

The position of the Tricopter on y-axis (m)

z :

The position of the Tricopter on z-axis (m)

\({\Omega }_{i}\) :

The angular speed of rotor \(i\)

\({U}_{1}\) :

Thrust force (N)

\({U}_{2}\) :

Torque about x-axis (N/m)

\({U}_{3}\) :

Torque about y-axis (N/m)

\({U}_{4}\) :

Torque about z-axis (N/m)

\({k}_{t}\) :

The drag factor

\({k}_{f}\) :

The thrust factor

\(l\) :

Distance between the center of a rotor and the center of the Tricopter.

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Acknowledgements

The authors would like to thank Prince Sultan University, Riyadh, Saudi Arabia for supporting this work. Special acknowledgement to Automated Systems & Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, Saudi Arabia.

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Authors and Affiliations

  1. Technical Engineering College, Middle Technical University, Baghdad, Iraq

    Alaq F. Hasan

  2. Control and Systems Engineering Department, University of Technology-Iraq, Baghdad, Iraq

    Amjad J. Humaidi

  3. Taylor’s University, Subang Jaya, Taylor’s Lakeside Campus, Selangor DE, Malaysia

    Abdulkareem Sh. Mahdi Al-Obaidi

  4. College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia

    Ahmad Taher Azar

  5. Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, Saudi Arabia

    Ahmad Taher Azar

  6. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  7. Department of Computer Techniques Engineering, Dijlah University College, Baghdad, 10022, Iraq

    Ibraheem Kasim Ibraheem

  8. Electrical Engineering Technical College, Middle Technical University, Baghdad, Iraq

    Ayad Q. Al-Dujaili

  9. Department of Computer Science, Edge Hill University, Ormskirk, UK

    Ammar K. Al-Mhdawi

  10. Aeronautical Department, College of Technical Engineering, Alfarahidi University, Baghdad, 10070, Iraq

    Farah Ayad Abdulmajeed

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Correspondence to Amjad J. Humaidi .

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  1. Faculty of Computers and Artificial Intelligence, Benha University, Benha, Egypt

    Ahmad Taher Azar

  2. Electrical Engineering Department, University of Baghdad, College of Engineering, Baghdad, Iraq

    Ibraheem Kasim Ibraheem

  3. University of Technology, Baghdad, Iraq

    Amjad Jaleel Humaidi

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Hasan, A.F. et al. (2023). Fractional Order Extended State Observer Enhances the Performance of Controlled Tri-copter UAV Based on Active Disturbance Rejection Control. In: Azar, A.T., Kasim Ibraheem, I., Jaleel Humaidi, A. (eds) Mobile Robot: Motion Control and Path Planning. Studies in Computational Intelligence, vol 1090. Springer, Cham. https://doi.org/10.1007/978-3-031-26564-8_14

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