Design of quadrotor attitude controller based on improved ADRC

被引：0

作者：

Yan H. ^{[1
]}

Xu W. ^{[2
]}

Huang L. ^{[2
]}

机构：

[1] School of Science, Jiangxi University of Science and Technology, Ganzhou

[2] School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2023年 / 49卷 / 12期

基金：

中国国家自然科学基金;

关键词：

active disturbance rejection control; attitude control; extended state observer; quadrotor UAV; xfal function;

D O I：

10.13700/j.bh.1001-5965.2022.0129

中图分类号：

学科分类号：

摘要：

An improved active disturbance rejection control (ADRC) was proposed for quadrotor attitude control to address the extended state observer (ESO) based on the traditional fal function's problems with easy chattering and insufficient anti-interference ability when responding to complex disturbances. A new smooth nonlinear xfal function was constructed based on the sine function to improve ESO. The stability of the improved ESO was proved by Lyapunov function. Finally, the improved ADRC was compared with other ADRCs through simulation platform. The results demonstrate that when compared to the standard ADRC, the mean square error of the pitch angle is reduced by approximately 38.7% in its chattering interval, and by approximately 78.4%, 80.2%, and 83.3% in their respective calculation intervals when the quadrotor was subjected to continuous interference, sudden interference, and complex interference, respectively. This indicates that the improved ADRC has excellent anti-interfere capabilities. © 2023 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.

引用

页码：3283 / 3292

页数：9

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