Active disturbance rejection control for a quadrotor UAV

被引：0
作者：
Wang, Zhikai [1 ]
Huang, Deqing [1 ]
Huang, Tianpeng [1 ]
Qin, Na [1 ]
机构：
[1] Southwest Jiaotong Univ, Sch Elect Engn, Chengdu 611756, Peoples R China
来源：
PROCEEDINGS OF 2020 IEEE 9TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS'20) | 2020年
基金：
中国国家自然科学基金;
关键词：
Quadrotor; active disturbance rejection control; disturbance; experiment; ATTITUDE-CONTROL;
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：
The design of robust tracking control for a quadrotor is an important and challenging problem nowadays. In the paper, an active disturbance rejection control (ADRC) technique is developed for attitude and altitude tracking of a quadrotor unmanned aerial vehicle (UAV) system subject to external disturbances. The nonlinear dynamics model of quadrotor is first obtained by Newton-Euler formula. Then, the control law, consisting of tracking differentiator (TD), extended state observers (ESO) and state error feedback (SEF) is designed. Finally, numerical simulations and experimental tests are conducted to illustrate the effectiveness of the proposed control strategy
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页码：1 / 5
页数：5
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