Attitude Control of Coaxial Tri-rotor UAV Based on Linear Extended State Observer

摘要：

　　A novel dynamic decoupling control method based on Linear Extended State Observer(LESO)for attitude stabilization of coaxial tri-rotor UAV is presented.Coaxial tri-rotor UAV system is a strong coupling,susceptible to disturbance,and multi-input multi-output(MIMO)system.High performance stabilization of such UAV is effected by virous uncertainties and disturbances which are difficult to measure.For this reason,we adopt Active Disturbance Rejection Control(ADRC)based on(LESO)and a linear feedback control law to estimate the dynamic disturbances and reject them out in real time to achieve desirable flight performance.The high performance of low overshoot,high accuracy,and strong robustness are demonstrated by the simulation results.

关键词： coaxial tri-rotor UAV attitude stabilization LESO dynamic decoupling PD controller

作者: Zhimin Chen Zhihong Peng Fan Zhang

作者单位: School of Automation,Beijing Institute of Technology,Beijing,100081

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 4204-4209

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）