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Zeng, Y., Jiang, Q., Liu, Q. and Jing, H. (2013) PID vs. MRAC Control Techniques Applied to a Quadrotor’s Attitude. IEEE 2nd International Conference on Instrumentation, Measurement, Computer, Communication and Control, Harbin, 8-10 December 2012, 1086-1089.
https://doi.org/10.1109/IMCCC.2012.256

has been cited by the following article:

• TITLE: Predictive Control of Quad-Rotor Delivering Unknown Time-Varying Payloads Based upon Extended State Observer

  AUTHORS: Yuan Wang

  KEYWORDS: Quad-Rotor, Payloads Delivery, Attitude Control, Disturbance Estimation, Feedback Compensation, Predictive Control

  JOURNAL NAME: Advances in Aerospace Science and Technology, Vol.4 No.2, June 28, 2019

  ABSTRACT: In this paper, robust control problem is addressed for quad-rotor delivering unknown time-varying payloads. Firstly, the model of a quad-rotor carrying payloads is built. Dynamics of the payloads are treated as disturbances and added into the model of the quad-rotor. Secondly, to enhance system robust-ness, the extended state observer (ESO) is applied to estimate the disturbances from the payloads for feedback compensation. Then a type of predictive controller targeting multiple-input-multiple-output (MIMO) system is developed to degrade the influences caused by sudden changes from load-ing/dropping of the payloads. Finally, by making comparison with the con-ventional cascade proportional-integral-derivative (CPID) and the sliding mode control (SMC) approaches, superiority of the scheme developed is va-lidated. The simulation results indicate that the CPID method shows poor performance on attitude stabilization and the SMC shows input chattering phenomenon even it can achieve satisfied control performances.