TY - GEN
T1 - Attitude Control of Underactuated Quadrotor UAV Based on Improved ADRC
AU - Wang, Chenyun
AU - Xia, Yuanqing
AU - Kong, Xiangyu
AU - Wang, Taiqi
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, a cascaded control framework based on active disturbance rejection control (ADRC) is proposed for underactuated quadrotor unmanned aerial vehicle (UAV) to improve the stability of attitude control and the ability of anti-disturbance. The model of quadrotor is given in the first, and then the improved active disturbance rejection control is applied into angular speed controller, the improved nonlinear extended state observer (NLESO) not only considering the delay of motor but also using a smooth nonlinear function which enhanced the accuracy of state estimation. The simulation results show that the improved ADRC performs better in both of the ability of attitude tracking and the ability of anti-disturbance.
AB - In this paper, a cascaded control framework based on active disturbance rejection control (ADRC) is proposed for underactuated quadrotor unmanned aerial vehicle (UAV) to improve the stability of attitude control and the ability of anti-disturbance. The model of quadrotor is given in the first, and then the improved active disturbance rejection control is applied into angular speed controller, the improved nonlinear extended state observer (NLESO) not only considering the delay of motor but also using a smooth nonlinear function which enhanced the accuracy of state estimation. The simulation results show that the improved ADRC performs better in both of the ability of attitude tracking and the ability of anti-disturbance.
KW - ADRC
KW - Nonlinear extended state observer
KW - Quadrotor attitude control
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=85173624704&partnerID=8YFLogxK
U2 - 10.1109/CFASTA57821.2023.10243364
DO - 10.1109/CFASTA57821.2023.10243364
M3 - Conference contribution
AN - SCOPUS:85173624704
T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
SP - 699
EP - 704
BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Y2 - 14 July 2023 through 16 July 2023
ER -