ADRC Based Attitude Control of a Quad-rotor Robot

摘要：

　　In this paper,active disturbance rejection control(ADRC)technique is described in detail.Typical algorithms for each component are given as well.In order to control the attitudes of a quad-rotor robot as we desired,two kinds of continuous ADRC controllers are designed.The satisfactory real-time control experimental results indicate that the continuous ADRC can not only meet the control accuracy requirement but also can achieve rapid and effective response for the nonlinear coupled systems.Eventually,the advantages and scopes of application of the two controllers are summarized.

关键词： Extended state observer Quad-rotor Nonlinear dynamics

作者: Yi Li Zengqiang Chen Mingwei Sun Zhongxin Liu Qing Zhang

作者单位: Tianjin Key Laboratory of Intelligent Robotics,College of Computer and Control Engineering,Nankai Un Tianjin Key Laboratory of Intelligent Robotics,College of Computer and Control Engineering,Nankai Un College of Science,Civil Aviation,University of China,Tianjin 300300,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 503-512

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）