Attitude Control of Underactuated Quadrotor UAV Based on Improved ADRC

被引：1
|
作者：
Wang, Chenyun [1 ]
Xia, Yuanqing [1 ]
Kong, Xiangyu [1 ]
Wang, Taiqi [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
2023 2ND CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, CFASTA | 2023年
关键词：
ADRC; Quadrotor attitude control; Underactuated system; Nonlinear extended state observer; FLATNESS;
D O I：
10.1109/CFASTA57821.2023.10243364
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a cascaded control framework based on active disturbance rejection control (ADRC) is proposed for underactuated quadrotor unmanned aerial vehicle (UAV) to improve the stability of attitude control and the ability of anti-disturbance. The model of quadrotor is given in the first, and then the improved active disturbance rejection control is applied into angular speed controller, the improved nonlinear extended state observer (NLESO) not only considering the delay of motor but also using a smooth nonlinear function which enhanced the accuracy of state estimation. The simulation results show that the improved ADRC performs better in both of the ability of attitude tracking and the ability of anti-disturbance.
引用
收藏
页码：699 / 704
页数：6
相关论文
共 50 条
  • [31] Position and Attitude Tracking Control for a Quadrotor UAV Based on Terminal Sliding Mode Control
    Zhou Weidong
    Zhu Pengxiang
    Wang Changlong
    Chu Min
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 3398 - 3404
  • [32] Quadrotor aircraft attitude control algorithm based on improved UKF
    Chen, Xiaofei
    Zhang, Gang
    Lu, Chengling
    Cheng, Junhui
    2018 INTERNATIONAL CONFERENCE ON CONSTRUCTION, AVIATION AND ENVIRONMENTAL ENGINEERING, 2019, 233
  • [33] Attitude control of quadrotor UAV based on integral backstepping active disturbance rejection control
    Yu, Susu
    Fan, Xuan
    Qi, Jingjing
    Wan, Luanfei
    Liu, Bingyou
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2024, 46 (04) : 703 - 715
  • [34] Sliding mode attitude control of quadrotor UAV based on NESO-LFDC
    Gui Y.
    Zheng B.
    Gao P.
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2024, 46 (03): : 1075 - 1083
  • [35] Attitude Tracking Control of a Quadrotor UAV Based on the Contracting Angular Velocity Observer
    Liu Yeqiu
    Ji Haibo
    Di Jian
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 568 - 574
  • [36] Sliding Mode Attitude Control of Quadrotor UAV Based on Proportional Integral Observer
    Wang, Zitong
    Wan, Youhong
    2019 3RD INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, AUTOMATION AND CONTROL TECHNOLOGIES (AIACT 2019), 2019, 1267
  • [37] Design and Implementation of Attitude Control for Quadrotor UAV Based on Adaptive Fuzzy PID
    Zhang, Hannuo
    Feng, Qi
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 3533 - 3538
  • [38] Attitude Control of a Quadrotor UAV Based on the Block-Pulse Function Approximation
    Lee, Chin-Hsiung
    PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ROBOTICS, CONTROL AND AUTOMATION ENGINEERING (RAE 2018) AND INTERNATIONAL CONFERENCE ON ADVANCED MECHANICAL AND ELECTRICAL ENGINEERING (AMEE 2018), 2018, : 112 - 116
  • [39] Comparative Analysis of Attitude Control of Quadrotor UAVs: PID, ADRC, and NMPC Algorithms
    Zhang, Tian
    Ng, Juinn Yea
    Tai, Vin Cent
    2024 9TH INTERNATIONAL CONFERENCE ON ELECTRONIC TECHNOLOGY AND INFORMATION SCIENCE, ICETIS 2024, 2024, : 210 - 215
  • [40] Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control
    Aws Abdulsalam Najm
    Ibraheem Kasim Ibraheem
    Arabian Journal for Science and Engineering, 2020, 45 : 1985 - 1999
12345