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Attitude Control of a Quad-rotor Based on LADRC

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Proceedings of 2017 Chinese Intelligent Systems Conference (CISC 2017)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 459))

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Abstract

In this paper, the structure of the linear active disturbance rejection control (LADRC) is described in detail, including linear tracking differentiator, linear extended state observer and linear feedback control law. Typical algorithms of the each part are given as well. In order to control the attitude of the quad-rotor robot as we expected, we designed a LADRC scheme. Simulations are carried out based on Simulink. After parameters adjustment and simulating with different disturbances, the simulation results show that the LADRC can satisfy the need of control precision and speed of response. It also indicates that the LADRC has strong robustness and anti-disturbance performance, which can control the nonlinear time-varying coupling system effectively.

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Acknowledgements

This work is supported by National Natural Science Foundation (NNSF) of China (61573197, 61573199).

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Authors and Affiliations

  1. College of Computer and Control Engineering, Nankai University, Tianjin, 300350, China

    Yong Zhang, Zengqiang Chen & Qinglin Sun

  2. Tianjin Sino-German University of Applied Sciences, Tianjin, 300350, China

    Xinghui Zhang

Authors
  1. Yong Zhang
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  2. Zengqiang Chen
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  3. Xinghui Zhang
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  4. Qinglin Sun
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Corresponding author

Correspondence to Zengqiang Chen .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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© 2018 Springer Nature Singapore Pte Ltd.

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Zhang, Y., Chen, Z., Zhang, X., Sun, Q. (2018). Attitude Control of a Quad-rotor Based on LADRC. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 459. Springer, Singapore. https://doi.org/10.1007/978-981-10-6496-8_5

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  • DOI: https://doi.org/10.1007/978-981-10-6496-8_5

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6495-1

  • Online ISBN: 978-981-10-6496-8

  • eBook Packages: EngineeringEngineering (R0)

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