Design of quadrotor attitude active disturbance rejection controller based on improved ESO

被引：0
|
作者：
Yang W. [1 ]
Lu J. [1 ]
Jiang X. [1 ]
Wang Y. [2 ]
机构：
[1] School of Basic Sciences for Aviation, Naval Aviation University, Yantai
[2] Naval Aviation University, Campus of Qingdao, Qingdao
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2022年 / 44卷 / 12期
关键词：
active disturbance rejection controll (ADRC); extended state observer (ESO); gain function; quadrotor unmanned aerial vehicle (UAV);
D O I：
10.12305/j.issn.1001-506X.2022.12.24
中图分类号：
学科分类号：
摘要：
For the attitude active disturbance rejection control (ADRC) system of quadrotor unmanned aerial vehicle (UAV), when the feedback signal of attitude angle measurement is polluted by sensor noise, the extended state observer (ESO) of the traditional nonlinear nonsmoothed fal function is not accurate enough. Based on this problem, a new nonlinear smooth gain function is constructed to redesign ESO, and the performance is verified by Matlab/Simulink simulation software. The simulation results show that compared with the traditional fal function, the gain function constructed is smooth and has better convergence, and can better reflect the engineering idea of "large error and small gain". The improved ESO based on gain function has stronger error following capability. The quadrotor attitude ADRC system designed by improved ESO has better tracking and anti-jamming capability. © 2022 Chinese Institute of Electronics. All rights reserved.
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页码：3792 / 3799
页数：7
相关论文
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