Attitude Stabilization Control Method for Quadrotor UAV Based on ADRC

被引：0
|
作者：
Yang, Sen [1 ,2 ]
Xi, Leiping [1 ]
Gong, Guanghong [2 ]
Dong, Hairui [1 ]
机构：
[1] Army Engn Univ, Dept UAV Engn, Shijiazhuang, Hebei, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
来源：
COMMUNICATIONS, SIGNAL PROCESSING, AND SYSTEMS, CSPS 2018, VOL III: SYSTEMS | 2020年 / 517卷
关键词：
Attitude stabilization control; Quadrotor; ADRC;
D O I：
10.1007/978-981-13-6508-9_102
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to solve the problems in attitude stabilization control of quadrotor UAV, an attitude stabilization controller based on Active Disturbance Rejection Control (ADRC) is proposed. First, the dynamics model of quadrotor UAV is introduced, and then the attitude stabilization controller based on ADRC is designed for quadrotor pitch, roll and yaw channels, respectively. The simulation results show that the designed controller can meet the control precision and rapidity requirements of the quadrotor.
引用
收藏
页码：836 / 844
页数：9
相关论文
共 50 条
  • [1] Attitude Control of Underactuated Quadrotor UAV Based on Improved ADRC
    Wang, Chenyun
    Xia, Yuanqing
    Kong, Xiangyu
    Wang, Taiqi
    2023 2ND CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, CFASTA, 2023, : 699 - 704
  • [2] Quadrotor Attitude Control Based On Improved ADRC
    Xiang, Li
    Ke, Lu
    Zhao Shanyong
    2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2022, : 4091 - 4095
  • [3] Attitude Control of Quadrotor UAV Based on LADRC Method
    Liang, Xuehui
    Li, Jingtao
    Zhao, Fei
    PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 1924 - 1929
  • [4] UAV quadrotor attitude control: An ADRC-EMC combined approach
    Lotufo, Mauricio Alejandro
    Colangelo, Luigi
    Perez-Montenegro, Carlos
    Canuto, Enrico
    Novara, Carlo
    CONTROL ENGINEERING PRACTICE, 2019, 84 : 13 - 22
  • [5] Inverse Dynamics Based Altitude/Attitude Control and Stabilization of a Quadrotor UAV
    Farid, Ghulam
    Mo Hongwei
    Baqar, Asad Husnain
    Qu Liwei
    2017 9TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC 2017), 2017, : 675 - 679
  • [6] Quadrotor UAV attitude stabilization using fuzzy robust control
    Lara Alabazares, David
    Rabhi, Abdelhamid
    Pegard, Claude
    Torres Garcia, Fernando
    Romero Galvan, Gerardo
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2021, 43 (12) : 2599 - 2614
  • [7] Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach
    Huo, Xing
    Huo, Mingyi
    Karimi, Hamid Reza
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2014, 2014
  • [8] Quadrotor unmanned helicopter attitude control based on Improved ADRC
    Xia, Guo-Yan
    Liu, Zheng-Hua
    2014 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2014, : 916 - 921
  • [9] The Attitude Control of UAV in Carrier Landing Based on ADRC
    Yu, Yue
    Wang, Honglun
    Shao, Xingling
    Huang, Yu
    2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 832 - 837
  • [10] An Interacting Control Method for Quadrotor Based on ADRC
    Yu, Hang
    Yao, Haodi
    Li, Yuanhong
    He, Fenghua
    Yao, Yu
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 4783 - 4788
12345