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
相关论文
共 50 条
  • [41] Autonomous Control System for the Quadrotor Unmanned Aerial Vehicle
    Zhang Yao
    Xian Bin
    Yin Qiang
    Liu Yang
    Wang Fu
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 4862 - 4867
  • [42] Autonomous Hovering Control for a Quadrotor Unmanned Aerial Vehicle
    Wang Fu
    Xian Bin
    Huang Guoping
    Zhao Bo
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 620 - 625
  • [43] Autonomous control system for the quadrotor unmanned aerial vehicle
    Wei, Xiaojuan
    2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2016, : 796 - 799
  • [44] Tracking Control Design for Quadrotor Unmanned Aerial Vehicle
    Nadda, Sudhir
    Swarup, A.
    DEFENCE SCIENCE JOURNAL, 2017, 67 (03) : 245 - 253
  • [45] Sliding Mode Attitude Control for a Quadrotor Micro Unmanned Aircraft Vehicle Using Disturbance Observer
    Wang, Honglin
    Chen, Mou
    2014 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2014, : 568 - 573
  • [46] Finite-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle with Disturbance and Actuator Saturation
    Zhang, Zheng
    Li, Xingwei
    Zhang, Lilian
    APPLIED SCIENCES-BASEL, 2024, 14 (09):
  • [47] Fixed-Time State Observer-Based Robust Adaptive Neural Fault-Tolerant Control for a Quadrotor Unmanned Aerial Vehicle
    Ranjan, Sanjeev
    Majhi, Somanath
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2025, 39 (01) : 132 - 151
  • [48] Extended State Observer Based Hierarchical Control for quadrotor UAV
    Mokhtari, Mohammed Rida
    Kahouadji, Mouad
    Choukchou-Braham, Amal
    Cherki, Brahim
    2018 7TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC), 2018, : 129 - 136
  • [49] Fuzzy-Based Fixed-Time Attitude Control of Quadrotor Unmanned Aerial Vehicle With Full-State Constraints: Theory and Experiments
    Jiang, Haoan
    Ma, Qian
    Guo, Jian
    IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2024, 32 (03) : 1108 - 1115
  • [50] Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load
    Shi, Di
    Wu, Zhong
    Chou, Wusheng
    ELECTRONICS, 2018, 7 (06):
12345