@inproceedings{b6618762e6bf471f993fac52fb718b74,
title = "Robust Decoupled Controller Design Based on Improved ESO of Quadrotor in Forward Flight",
abstract = "In this paper, a new type of decoupled controller with strong robustness of quadrotor in forward flight is proposed. First, an accurate quadrotor dynamics in forward flight considering aerodynamics is given and the disturbances are described. Second, a novel improved extended state observer(IESO) is designed based on limitation of conventional ESO and its convergence is proved in detail. Then, the decoupled controller is designed combining IESO with dynamic inversion (DI) and the estimate of disturbances is compensated based on idea of active disturbance rejection contro (ADRC). Finally, efficiency of designed controller is shown by numerical simulations.",
keywords = "Decoupled control, Dynamic inversion, Improved extended state observer, Quadrotor",
author = "Han Miao and Tao Song and Jianchuan Ye and Yuru Bin",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2_578",
language = "English",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "5982--5993",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "Germany",
}