Reinforcement of a Reference Model-based Control using Active Disturbance Rejection principle: application to quadrotor

被引：2
|
作者：
Bouzid, Y. [1 ]
Siguerdidjane, H. [2 ]
Guiatni, M. [1 ]
Lamraoui, H. C. [3 ]
机构：
[1] Ecole Mil Polytech, CSCS Lab, Bordj El Bahri, Algeria
[2] Univ Paris Saclay, Cent Supelec, L2S, F-91190 Gif Sur Yvette, France
[3] Harbin Engn Univ, Harbin, Heilongjiang, Peoples R China
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 12期
关键词：
Quadrotor; ADRC; Nonlinear control; Robust control; Observer; ESO; INTERCONNECTION; STABILIZATION; PASSIVITY;
D O I：
10.1016/j.ifacol.2019.11.189
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, we investigate and apply a revisited formulation of a reference model-based control strategy. This reformulation uses an Extended State based Observer (ESO) to estimate the uncertainties and the various disturbances. The estimation is continuously updated and rejected from the main feedback loop. This active disturbance rejection is used to boost the robustness ability of a reference model-based control strategy (Interconnection and Damping Assignment-Passivity Based Control). The primary results are shown through numerical simulations. (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：152 / 157
页数：6
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