@inproceedings{2a0b46c3adfc438aa7352dea1229a932,
title = "Cascaded Active Disturbance Rejection Control for Quadrotor Trajectory Tracking",
abstract = "In this paper, a cascaded control structure for quadrotor trajectory tracking problem is investigated based on the active disturbance rejection control (ADRC). For the position controller, a third order extended state observer (ESO) is developed to estimate the disturbances, and an ADRC controller is established. Then for the attitude stabilization, a dual-loop control scheme is applied since the angular velocity can be measured. An ESO is introduced to the inner-loop angular velocity controller to enhance the robustness. Simulations indicate that the proposed method can achieve a quick and smooth tracking, while enhance the robustness. Moreover, the tracking performance and the capacity of disturbance rejection is verified via two set of experiments.",
keywords = "ADRC, Quadrotor, disturbance rejection, trajectory tracking",
author = "Fenkai Han and Chenxi Hao and Zhihong Deng",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Chinese Automation Congress, CAC 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/CAC48633.2019.8997411",
language = "English",
series = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5385--5390",
booktitle = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
address = "United States",
}