Quadrotor Attitude Control Based on an Improved ADRC

doi:10.16182/j.issn1004731x.joss.201808037

Abstract

Abstract: An improved attitude control scheme for the quadrotor is proposed based on active disturbance rejection control (ADRC). The attitude dynamics of the quadrotor is modelled and analysed. The influence of actuator characteristics is discussed to establish an extended state observer (ESO). Based on it, the ESO is compensated by the delay unit and its discrete state equations are given. Nonlinear function of previous studies is used to construct nonlinear state error feedback (NLSEF). The simulation results show that the ESO with compensation of the delay unit gets better estimation of disturbance and compensates to disturbance better than the ESO without compensation; the improved NLSEF can reject disturbance more quickly without jitter than the classic NLSEF. The improved ADRC has better performance on rejection of disturbance and is more applicable in practice.

Key words: quadrotor, attitude control, ADRC, ESO, delay compensating

CLC Number:

V279

Wang Biao, Tang Chaoying, Kong Daqing. Quadrotor Attitude Control Based on an Improved ADRC[J]. Journal of System Simulation, 2018, 30(8): 3124-3129.

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