Attitude Control of A Quadrotor Unmanned Aerial Vehicle Based on Linear Extended State Observer

被引：0
|
作者：
Ji, Yidao [1 ]
Yu, Yao [1 ]
Zhang, Wenjun [1 ]
Sun, Changyin [1 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
quadrotor unmanned aerial vehicle; attitude control; LESO; disturbance;
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：
In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO).The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.
引用
收藏
页码：1350 / 1355
页数：6
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