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Trajectory tacking control of a quad-rotor based on active disturbance rejection control (EI CONFERENCE)

文献类型：会议论文

作者Gong X. ; Tian Y. ; Bai Y. ; Zhao C.
出版日期2012
会议名称2012 IEEE International Conference on Automation and Logistics, ICAL 2012, August 15, 2012 - August 17, 2012
会议地点Zhengzhou, China
关键词The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty the external disturbance and the coupling factor are considered an active disturbance rejection control (ADRC) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article the ADRC controller is expressed in the discrete form. And finally the simulation results show that the proposed control algorithm achieves a favourable tracking performance. 2012 IEEE.
页码254-259
收录类别EI
源URL[http://ir.ciomp.ac.cn/handle/181722/33195]  
专题长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式
GB/T 7714		 Gong X.,Tian Y.,Bai Y.,et al. Trajectory tacking control of a quad-rotor based on active disturbance rejection control (EI CONFERENCE)[C]. 见:2012 IEEE International Conference on Automation and Logistics, ICAL 2012, August 15, 2012 - August 17, 2012. Zhengzhou, China.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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