An Interacting Control Method for Quadrotor Based on ADRC

被引：0
|
作者：
Yu, Hang [1 ]
Yao, Haodi [1 ]
Li, Yuanhong [1 ]
He, Fenghua [1 ]
Yao, Yu [1 ]
机构：
[1] Harbin Inst Technol, Harbin 150001, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
关键词：
quadrotor; target interaction; ADRC;
D O I：
10.23919/chicc.2019.8865526
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, a three-dimensional rendezvous control problem is investigated, where a quadrotor equipped with camera and processors is required to interact with moving ground robots. First, the description of the rendezvous problem is formulated. Second, a rendezvous control algorithm based on ADRC is proposed in order to solve the problems caused by image processing frequency, which guarantees the fast and accurate interaction. Moreover, simulation and experimental results are provided and analyzed.
引用
收藏
页码：4783 / 4788
页数：6
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