SIA OpenIR  > 机器人学研究室
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)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages287-292
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187901
WOS IDWOS:000380502300057
Contribution Rank3
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordQuadrotor Attitude Tracking Ladrc(Linear Active Disturbance Rejective Control) Pid
AbstractA 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.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18508
Collection机器人学研究室
Affiliation1.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
Recommended Citation
GB/T 7714
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.
Files in This Item:
File Name/Size DocType Version Access License
Attitude tracking co(163KB)会议论文 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Gao, Jingdu]'s Articles
[Zhuang Y(庄严)]'s Articles
[Xiao JZ(肖继忠)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Gao, Jingdu]'s Articles
[Zhuang Y(庄严)]'s Articles
[Xiao JZ(肖继忠)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Gao, Jingdu]'s Articles
[Zhuang Y(庄严)]'s Articles
[Xiao JZ(肖继忠)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Attitude tracking control of a quadrotor based on linear active disturbance rejective control.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.