Abstract
Based on the analysis of the working principle and dynamic characteristics of quad-rotor, its dynamic model is established. And the simulation platform of quad-rotor control system is developed in Matlab/Simulink environment. Considering the characteristics of nonlinear, strong coupling, under-actuated, and uncertain of the quad-rotor aircraft, the most widely used cascade PID controller is adopted in the simulation of the quad-rotor control system. To deal with the aircraft parameter uncertainties and external interferences, this paper designed a linear active disturbance rejection controller (LADRC), which realizes the real-time estimation and compensation of internal disturbances and external disturbances by using the extended state observer (ESO) to overcome the strong coupling, model uncertainties and external disturbances of the quad-rotor aircraft. Simulation results on attitude tracking and height control of the LADRC system are analyzed on the simulation platform and compared with the cascade PID control system. The simulation results show that the LADRC is superior to the cascade PID controller in terms of disturbance rejection.
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Acknowledgements
This work was supported by National Natural Science Foundation of China (No. 61520106010), National Key Technologies R&D Program (No. 2013BAB02B07) and National Natural Science Foundation of China (No. 61603362).
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Tang, J., Yang, S., Li, Q. (2018). Attitude Control of a Class of 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 460. Springer, Singapore. https://doi.org/10.1007/978-981-10-6499-9_16
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DOI: https://doi.org/10.1007/978-981-10-6499-9_16
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