High-precision Control of Plant Protection Quadrotors Based on Reduced-order linear Extended State Observer

被引：0
|
作者：
Xu, Jin [1 ]
Liao, Shigang [2 ]
Ding, Xian [1 ]
Song, Xun [2 ]
Wang, Xiaodong [2 ]
Lu, Chuang [2 ]
机构：
[1] Luneng New Energy Grp, Beijing, Peoples R China
[2] Beijing Inst Elect Engn, Beijing, Peoples R China
来源：
PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2020年
关键词：
the plant protection quadrotor reduce-order LESO; disturbance; TRAJECTORY TRACKING CONTROL; DISTURBANCE; DESIGN; UAVS;
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：
To solve the problem of wind disturbances, disturbance torques and parameter perturbation, a feedback linearization control based on reduced-order linear extended state observer (LESO) is proposed to realize the high-precision control of the plant protection quadrotor. With the construction of the extended state model for the plant protection quadrotor position and attitude angles, the reduce-order LESO is proposed to estimate the model uncertainties. By incorporating the estimation information of reduce-order LESO and the measurement information of the plant protection quadrotor, the feedback linearization control is proposed to realize stale position tracking and angle control. Finally, the effectiveness of this control method is proposed by simulations.
引用
收藏
页码：37 / 43
页数：7
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