PD-ADRC cascade control for quadrotor system

被引：2
|
作者：
Zhang Y. [1 ]
Chen Z. [1 ]
Zhang X. [2 ]
Sun M. [1 ]
Sun Q. [1 ]
机构：
[1] College of Computer and Control Engineering, Nankai University, Tianjin
[2] College of Computer, Tianjin Sino-German University of Applied Sciences, Tianjin
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2018年 / 40卷 / 09期
关键词：
Active disturbance rejection control; Cascade control; Flight control; Quadrotor;
D O I：
10.3969/j.issn.1001-506X.2018.09.23
中图分类号：
学科分类号：
摘要：
In order to solve some difficult control problems like underactuated, nonlinearity, multivariate and strong coupling in quadrotor system, a cascade control system is designed. In this control system, the classical proportion differential control method is applied in the position control loop, and linear active disturbance rejection control and nonlinear active disturbance rejection control are used in the attitude control loop separately. The two methods are compared by simulation and the simulation results show that although both methods can implement the position control and the attitude control, the linear active disturbance rejection control is better in line with the actual requirement of the engineering and more effective in quadrotor flight control. © 2018, Editorial Office of Systems Engineering and Electronics. All right reserved.
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页码：2055 / 2061
页数：6
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