A Quaternion-based and Active Disturbance Rejection Attitude Control for Quadrotor

被引：0

作者：

Castillo, Alberto ^{[1
]}

Sanz, Ricardo ^{[1
]}

Garcia, Pedro ^{[1
]}

Albums, Pedro ^{[1
]}

机构：

[1] Univ Politecn Valencia, Dept Syst Engn & Control DISA, E-46022 Valencia, Spain

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2016年

关键词：

quadrotor control; attitude; quaternion; modeling error; ADRC;

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 this paper, a quaternion-based attitude controller for quadrotors is developed. The proposal is made up of two interconnected controllers: an outer loop, which consists of a nonlinear quaternion-based controller, deals with the kinematic model; the inner loop is based on the Active Disturbance Rejection Control and deals with the dynamic model. The stability of each controller is proved and the global performance is illustrated through several simulations.

引用

页码：240 / 245

页数：6

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