TY - GEN
T1 - A Dual Closed-loop Control Scheme for Quadrotor under Disturbances
AU - Hao, Chenxi
AU - Xia, Yuanqing
AU - Ma, Dailiang
AU - Zhao, Hailong
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - In this paper, a double closed-loop control scheme based on active disturbance rejection control (ADRC) is proposed to enhance the anti-disturbance ability and trajectory tracking accuracy of the quadrotor unmanned aerial vehicle (UAV) system. Firstly, quadrotor's dynamic model is established and simplified. Secondly, the corresponding active disturbance rejection controller is designed for attitude inner loop and position outer loop respectively, the extended state observer (ESO) considering the motor dynamics which makes the observation more accurate is used to estimate and compensate the internal uncertainties and external disturbances in real-time. The experimental results show that the control scheme proposed in this paper can largely ensure that the quadrotor tracks the target trajectory quickly and accurately while maintaining stability, even with intense external disturbances.
AB - In this paper, a double closed-loop control scheme based on active disturbance rejection control (ADRC) is proposed to enhance the anti-disturbance ability and trajectory tracking accuracy of the quadrotor unmanned aerial vehicle (UAV) system. Firstly, quadrotor's dynamic model is established and simplified. Secondly, the corresponding active disturbance rejection controller is designed for attitude inner loop and position outer loop respectively, the extended state observer (ESO) considering the motor dynamics which makes the observation more accurate is used to estimate and compensate the internal uncertainties and external disturbances in real-time. The experimental results show that the control scheme proposed in this paper can largely ensure that the quadrotor tracks the target trajectory quickly and accurately while maintaining stability, even with intense external disturbances.
KW - Active disturbance rejection control
KW - Extended state observer
KW - Motor dynamics
KW - Position and attitude control
KW - Quadrotor
UR - https://www.scopus.com/pages/publications/85080860828
U2 - 10.1109/ICUS48101.2019.8995953
DO - 10.1109/ICUS48101.2019.8995953
M3 - Conference contribution
AN - SCOPUS:85080860828
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 877
EP - 882
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -