Quadrotor Attitude Control Based on an Improved ADRC

Authors

Wang Biao, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
Chaoying Tang, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
Daqing Kong, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;

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.

Recommended Citation

Biao, Wang; Tang, Chaoying; and Kong, Daqing (2019) "Quadrotor Attitude Control Based on an Improved ADRC," Journal of System Simulation: Vol. 30: Iss. 8, Article 37.
DOI: 10.16182/j.issn1004731x.joss.201808037
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss8/37

First Page

3124

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201808037

Last Page

3129

CLC

V279

Recommended Citation

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

DOI

10.16182/j.issn1004731x.joss.201808037