Attitude tracking control of a quadrotor based on linear active disturbance rejective control
文献类型：会议论文
| 作者 | Gao, Jingdu; Zhuang Y(庄严); Zhao YW(赵忆文)
|
| 出版日期 | 2015 |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | Quadrotor Attitude Tracking Ladrc(Linear Active Disturbance Rejective Control) Pid |
| 页码 | 287-292 |
| 英文摘要 | 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. |
| 产权排序 | 3 |
| 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 |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300057 |
| 源URL | [http://ir.sia.cn/handle/173321/18508]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.Department of Electrical Engineering, City College, City University of New York, New York, United States 2.School of Control Science and Engineering, Dalian University of Technology, Dalian, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Gao, Jingdu,Zhuang Y,Zhao YW. Attitude tracking control of a quadrotor based on linear active disturbance rejective control[C]. 见:. Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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