Quadrotor modeling and control based on Linear Active Disturbance Rejection Control

被引：0
|
作者：
Li, Jiaming [1 ]
Li, Rui [1 ]
Zheng, Haichao [1 ]
机构：
[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611730, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
基金：
中国国家自然科学基金;
关键词：
Quadrotor; Modeling; ADRC; Linear ADRC; TRACKING;
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：
This paper investigates an integrated process for design of the control system of a small quadrotor. A twelve degree of freedom dynamic model of the oblique cross quadrotor is first established. Then, to cope with the quadrotor's nonlinear and under-actuated characteristics, Active Disturbance Rejection Control (ADRC) systems are designed. Moreover, to apply conveniently, the ADRC systems are simplified as linear ADRC systems, including a linear state error feedback (LSEF) and an linear extended state observer (LESO). Some simulations and experiments are carried out in order to demonstrate the validity of the control system.
引用
收藏
页码：10651 / 10656
页数：6
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