A flight controller based on extend state observer for quadrotor aerial vehicles

被引：0
|
作者：
Wu, Shangjing [1 ]
Lu, Ke [1 ,2 ]
Wang, Zhengzhong [1 ]
Liu, Zhenghua [3 ]
机构：
[1] China Helicopter Res & Dev Inst, Sci & Technol Rotorcraft Areomech Lab, Jingdezhan 333001, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Quadrotor; extend state observer; flight control system; robustness;
D O I：
暂无
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 order to solve the problems of parameter uncertainty and sensitivity to external disturb, a flight control system for quadrotor based on extend state observer was proposed. First, the flight dynamic model for quadrotor was built. Then, the effect resulted from parameter uncertainty and external disturb was taken as general system disturb so it could be estimated online by extend state observer. Further, the error feedback was designed to ensure the control system performance. Finally, simulations verify the controller.
引用
收藏
页码：3469 / 3472
页数：4
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