Research on Attitude Control of Quadrotor UAV Based on Active Disturbance Rejection Control

被引：0

作者：

Song, Zuling ^{[1
]}

Wang, Yongji ^{[1
]}

Liu, Lei ^{[1
]}

Cheng, Zhongtao ^{[1
]}

Yang, Ye ^{[2
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Natl Key Lab Sci & Technol Multispectral Informat, Wuhan 430074, Peoples R China

[2] Beijing Aerosp Automat Control Inst, Sci & Technol Aerosp Intelligent Control Lab, Beijing 100854, Peoples R China

来源：

PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020) | 2020年

关键词：

Quadrotor; UAV; ADRC; Attitude control; Disturbance observation; Disturbance Rejection;

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：

Aiming at enhancing the disturbance suppression ability of attitude control of quadrotor UAV (Unmanned Aerial Vehicle), design an ADRC(Active Disturbance Rejection Control) based on quadrotor UAV. Different from the traditional trial adjustment of the parameter b0 in ADRC design, it can be derived according to the characteristics of the quadrotor model in this paper. Firstly, a non-linear kinematic model of a quadrotor UAV is established, and then each module of the ADRC is designed and debugged by modules. Finally, the system is simulated and verified. The experimental results show that ADRC has a stronger disturbance suppression capability than PID control, which greatly improves the stability of the system and enhances the drone's flight control ability in complex environments.

引用

页码：5051 / 5056

页数：6

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