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Alternative TitleAn active disturbance-rejection flight control method for quad-rotor unmanned aerial vehicles
刘一莎; 杨晟萱; 王伟
Source Publication控制理论与应用
Indexed ByEI ; CSCD
EI Accession number20155101706496
Contribution Rank2
Funding Organization国家自然科学基金项目(61305128),中央高校基本科研业务费(3132014214)资助.Supported by National Natural Science Foundation of China (61305128), the Fundamental Research Funds for the Central Universities of China(3132014214).
Keyword四旋翼飞行器 自抗扰控制 Pid控制 参数整定
Other AbstractWe design an active disturbance-rejection controller for the flight control of a quad-rotor unmanned aerial vehicle (UAV) to reduce the effects of the parameter variations and external disturbances. After arranging the transient dynamics of the desired attitude and height, we design an extended state observer to estimate and compensate for the impact of internal/external disturbances simultaneously, thus solving the problems of strong coupling and parametric uncertainties even in the presence of external disturbances such as varying-wind conditions. Moreover, a nonlinear state error feedback control law is also applied, which effectively reduces the tracking error. A series of experiments are conducted in simulation platform, and comparative analysis between active disturbance-rejection controller and cascade PID controller is made. Simulation results show that the active disturbance-rejection controller not only accurately estimates and compensates the internal/external disturbances but also implements the robust quad-rotor flight control under conditions of dynamic parametric uncertainties, meeting the design requirements of fast attitude maneuver and high stability, and showing a superior performance to cascade PID controller.
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Document Type期刊论文
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GB/T 7714
刘一莎,杨晟萱,王伟. 四旋翼飞行器的自抗扰飞行控制方法[J]. 控制理论与应用,2015,32(10):1351-1360.
APA 刘一莎,杨晟萱,&王伟.(2015).四旋翼飞行器的自抗扰飞行控制方法.控制理论与应用,32(10),1351-1360.
MLA 刘一莎,et al."四旋翼飞行器的自抗扰飞行控制方法".控制理论与应用 32.10(2015):1351-1360.
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