Linear Active Disturbance Rejection Control of Quadrotor's Altitude and Attitude

被引：0
|
作者：
Ye, Bo [1 ]
Lan, Weiyao [1 ]
Jin, Huiyu [1 ]
Huang, Cao [2 ]
机构：
[1] Xiamen Univ, Sch Aerosp Engn, Xiamen 361005, Peoples R China
[2] Xizang Minzu Univ, Sch Informat Engn, Xianyang 712082, Peoples R China
来源：
2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2017年
关键词：
linear active disturbance rejection control; quadrotor; altitude; attitude; tracking error;
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 problem of how to control a quadrotor is investigated. A nonlinear model of the quadrotor is derived with Newton-Euler formulation and then simplified. With the simplified model, Linear Active Disturbance Rejection Control (LADRC) is used to control the altitude and attitude of the quadrotor. Simulations show LADRC can deal with the model uncertainty and coupling, guarantee stability, and have a good performance in tracking a step signal.
引用
收藏
页码：1188 / 1193
页数：6
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