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Attitude tracking control of a quadrotor based on linear active disturbance rejective control
Gao, Jingdu; Zhuang Y(庄严); Xiao JZ(肖继忠); Zhao YW(赵忆文)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码287-292
收录类别EI ; CPCI(ISTP)
EI收录号20161402187901
WOS记录号WOS:000380502300057
产权排序3
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Quadrotor Attitude Tracking Ladrc(Linear Active Disturbance Rejective Control) Pid
摘要A quadrotor is a typical multiple-input multiple-output (MIMO), underactuated, strong coupled nonlinear system with parameter uncertainty and unmodeled disturbance. To track the desired attitude and height, a linear active disturbance rejection control (LADRC) approach is utilized for the quadrotor control. LADRC has the capacity of estimating and compensating the generalized disturbance, and reduce the system to a unit gain double integrator, which is easily implemented and robust to environment disturbances. A simplified dynamic model of quadrotor is established using Newton-Euler equations. The design of LADRC is verified through numerical simulation and compared with PID controller. Simulation results indicate the LADRC can be used to achieve good performance in tracking the desired attitude and height.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18508
专题机器人学研究室
作者单位1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.Department of Electrical Engineering, City College, City University of New York, New York, United States
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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Gao, Jingdu,Zhuang Y,Xiao JZ,et al. Attitude tracking control of a quadrotor based on linear active disturbance rejective control[C]. Piscataway, NJ, USA:IEEE,2015:287-292.
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