TY - GEN
T1 - Technology of Fuzzy Active Disturbance Rejection Control for Quadrotor UAV
AU - Zhu, Yuhu
AU - Xu, Yong
AU - Zhai, Kangrui
AU - Zhang, Hongyu
AU - Liu, Xiaodong
AU - Song, Jinyi
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aiming at the problems of nonlinearity, strong coupling, and underactuation in the flight control system of the quadrotor UAV, a fuzzy active disturbance rejection control (ADRC) strategy is designed. In this control strategy, fuzzy control is introduced based on ADRC technology, and the attitude angle channels and altitude channel of a quadrotor UAV are simulated and analyzed. Besides, the results are compared with those of classical ADRC and PID control. The simulation results show that under some external disturbances, the designed controller can well estimate and compensate for the total disturbance, and the stability and robustness of the fuzzy ADRC system response are stronger than those of classical ADRC and PID control.
AB - Aiming at the problems of nonlinearity, strong coupling, and underactuation in the flight control system of the quadrotor UAV, a fuzzy active disturbance rejection control (ADRC) strategy is designed. In this control strategy, fuzzy control is introduced based on ADRC technology, and the attitude angle channels and altitude channel of a quadrotor UAV are simulated and analyzed. Besides, the results are compared with those of classical ADRC and PID control. The simulation results show that under some external disturbances, the designed controller can well estimate and compensate for the total disturbance, and the stability and robustness of the fuzzy ADRC system response are stronger than those of classical ADRC and PID control.
KW - Tuadrotor UAV
KW - anti-disturbance
KW - extended state observer
KW - fuzzy AD5C
UR - http://www.scopus.com/inward/record.url?scp=85185613360&partnerID=8YFLogxK
U2 - 10.1109/YAC59482.2023.10401699
DO - 10.1109/YAC59482.2023.10401699
M3 - Conference contribution
AN - SCOPUS:85185613360
T3 - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
SP - 1221
EP - 1226
BT - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
Y2 - 27 August 2023 through 29 August 2023
ER -