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题名: Attitude tracking control of a quadrotor based on linear active disturbance rejective control
作者: 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: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 287-292
收录类别: EI ; CPCI(ISTP)
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
产权排序: 3
WOS记录号: WOS:000380502300057
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18508
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Gao, Jingdu,Zhuang Y,Xiao JZ,et al. Attitude tracking control of a quadrotor based on linear active disturbance rejective control[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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文件名: Attitude tracking control of a quadrotor based on linear active disturbance rejective control.pdf
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