Advanced Quadrotor Takeoff Control Based on Incremental Nonlinear Dynamic Inversion and Integral Extended State Observer
文献类型：会议论文
| 作者 | Du, Han(杜晗)1,2 ; Pu, Zhiqiang(蒲志强)1; Yi, Jianqiang(易建强)1; Qian, Hanbo(钱瀚博)3; Zhiqiang Pu
|
| 出版日期 | 2016 |
| 会议日期 | August 8 - August 12, 2016 |
| 会议地点 | Nanjing , China |
| 关键词 | Quadrotor Incremental Nonlinear Dynamic Inversion Integral Extended State Observer |
| 页码 | 1881 - 1886 |
| 英文摘要 | This paper presents an advanced control scheme for quadrotor taking off process. Firstly a high-fidelity model is established, with Coriolis force, gyro effect, and ground effect taken into account. Then the quadrotor control system is decoupled into three control loops, which are position loop, angle loop, and inner loop. Dynamic inversion (DI) is applied to design control laws for both the position and the angle loops. Incremental nonlinear dynamic inverse (INDI) control law is furtherly developed to cope with non-affine form of the inner loop. To realize disturbance rejection and the measurement noise attenuation, integral extended state observer (IESO) is combined in this control scheme. Besides, arranged transient process technique (ATP) is utilized in the control scheme to smooth huge-jump desired input and connect different loops with feasible transient process. Finally, through series of simulations the effectiveness of the control scheme, as well as robustness against external disturbances and measurement noise are validated. |
| 会议录 | Proceedings of 2016 IEEE Chinese Guidance, Navigation and Control Conference
 |
| 语种 | 英语 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/14483]  |
| 专题 | 综合信息系统研究中心_飞行器智能技术 |
| 通讯作者 | Zhiqiang Pu |
| 作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 3.国家国防科技工业局协作配套中心 |
| 推荐引用方式 GB/T 7714 | Du, Han,Pu, Zhiqiang,Yi, Jianqiang,et al. Advanced Quadrotor Takeoff Control Based on Incremental Nonlinear Dynamic Inversion and Integral Extended State Observer[C]. 见:. Nanjing , China. August 8 - August 12, 2016. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。