Automatic Takeoff of Unmanned Aerial Vehicle based on Active Disturbance Rejection Control

摘要：

The safe takeoff of unmanned aerial vehicles (UAVs) under various wind conditions has been a challenging research for decades. We design an automatic takeoff control system based on the Active Disturbance Rejection Control (ADRC). The automatic takeoff control system consists of a taxiing control subsystem, an attack angle control subsystem, a pitch angle control subsystem, and a smooth switch control subsystem whose function is to switch the forenamed three subsystems smoothly without the jumps of the elevator actuator. In contrast to previous methods, our approach can directly and real-timely estimate the UAVs internal and external disturbances and then compensate for them. Simulation results show that our automatic takeoff control system can lead the UAV to takeoff safely under wide range wind disturbances (e.g., downburst, wind turbulence) with the help of ADRC.

作者: Hua Xiong Feng-shui Jing Jian-qiang Yi Guo-liang Fan

作者单位: Institute of Automation,Chinese Academy of Sciences,Beijing,P.R.China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2474-2479

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）