TY - GEN
T1 - Attitude control of spherical unmanned aerial vehicle based on Active Disturbance Rejection Control
AU - Hu, Gui
AU - Chai, Senchun
AU - Cui, Lingguo
AU - Sun, Guangxiong
N1 - Publisher Copyright:
© 2015 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2015/9/11
Y1 - 2015/9/11
N2 - Spherical Unmanned Aerial Vehicle (UAV) is a typical nonlinear system. Its un-modeled dynamics, internal and external disturbance can both affect the flight control, which makes the design of the controller more complex. In order to improve dynamic performance, static performance and robustness of the control system, an Active Disturbance Rejection Control (ADRC) scheme of spherical UAV is presented based on the analysis of the traditional PID control. First of all, through the arrangement of the transition process, the system can track the input signal and obtain the differential signal. It also can observe the unknown disturbance by using the extended state observer. Besides, the system implements compensation through the nonlinear feedback control law. Using MATLAB/SIMULINK as the simulation platform, according to the function, the controller is divided into multiple sub-systems, which are designed and finally connected to form a complete system. Simulation results show that the control system based on ADRC has high performance on resisting the disturbance and the un-modeled dynamics.
AB - Spherical Unmanned Aerial Vehicle (UAV) is a typical nonlinear system. Its un-modeled dynamics, internal and external disturbance can both affect the flight control, which makes the design of the controller more complex. In order to improve dynamic performance, static performance and robustness of the control system, an Active Disturbance Rejection Control (ADRC) scheme of spherical UAV is presented based on the analysis of the traditional PID control. First of all, through the arrangement of the transition process, the system can track the input signal and obtain the differential signal. It also can observe the unknown disturbance by using the extended state observer. Besides, the system implements compensation through the nonlinear feedback control law. Using MATLAB/SIMULINK as the simulation platform, according to the function, the controller is divided into multiple sub-systems, which are designed and finally connected to form a complete system. Simulation results show that the control system based on ADRC has high performance on resisting the disturbance and the un-modeled dynamics.
KW - Active Disturbance Rejection Control
KW - Spherical UAV
KW - extended state observer
KW - transient process
KW - un-modeled dynamics
UR - https://www.scopus.com/pages/publications/84946557922
U2 - 10.1109/ChiCC.2015.7259803
DO - 10.1109/ChiCC.2015.7259803
M3 - Conference contribution
AN - SCOPUS:84946557922
T3 - Chinese Control Conference, CCC
SP - 1191
EP - 1195
BT - Proceedings of the 34th Chinese Control Conference, CCC 2015
A2 - Zhao, Qianchuan
A2 - Liu, Shirong
PB - IEEE Computer Society
T2 - 34th Chinese Control Conference, CCC 2015
Y2 - 28 July 2015 through 30 July 2015
ER -