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
相关论文
共 50 条
  • [31] Internal Model Based Active Disturbance Rejection Control
    Pan, Jinwen
    Wang, Yong
    2016 AMERICAN CONTROL CONFERENCE (ACC), 2016, : 6989 - 6994
  • [32] ORB-SLAM Based Active Disturbance Rejection Control for Quadrotor Autonomous Flight
    Orozco-Soto, Santos M.
    Vera-Bustamante, Pablo
    Ibarra-Zannatha, Juan M.
    2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB), 2018,
  • [33] Distributed Active Disturbance Rejection Formation Tracking Control for Quadrotor UAVs
    Xu, Lin-Xing
    Wang, Yu-Long
    Wang, Xiaofan
    Peng, Chen
    IEEE TRANSACTIONS ON CYBERNETICS, 2024, 54 (08) : 4678 - 4689
  • [34] Linear Active Disturbance Rejection Control of Quadrotor's Altitude and Attitude
    Ye, Bo
    Lan, Weiyao
    Jin, Huiyu
    Huang, Cao
    2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2017, : 1188 - 1193
  • [35] Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
    Shen, Suiyuan
    Xu, Jinfa
    INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING, 2020, 2020
  • [36] Deep reinforcement learning based active disturbance rejection control for ship course control
    Qin, Huayang
    Tan, Panlong
    Chen, Zengqiang
    Sun, Mingwei
    Sun, Qinglin
    NEUROCOMPUTING, 2022, 484 : 99 - 108
  • [37] An Industrial Quadrotor UAV Control Method Based on Fuzzy Adaptive Linear Active Disturbance Rejection Control
    Sun, Changhao
    Liu, Mengqi
    Liu, Chang'an
    Feng, Xueling
    Wu, Hua
    ELECTRONICS, 2021, 10 (04) : 1 - 21
  • [38] Reinforcement-Learning-Based Active Disturbance Rejection Control of Piezoelectric Actuators
    Yi, Ming-Lei
    Zhang, Yi-Lun
    Huang, Xiang
    Zhang, Hai-Tao
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 2303 - 2307
  • [39] Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control
    Aws Abdulsalam Najm
    Ibraheem Kasim Ibraheem
    Arabian Journal for Science and Engineering, 2020, 45 : 1985 - 1999
  • [40] Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control
    Najm, Aws Abdulsalam
    Ibraheem, Ibraheem Kasim
    ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2020, 45 (03) : 1985 - 1999
12345