{"title":"基于线性扩展状态观测器的四旋翼无人机姿态控制","authors":"Yidao Ji, Yao Yu, Wenjun Zhang, Changyin Sun","doi":"10.1109/CCDC.2015.7162128","DOIUrl":null,"url":null,"abstract":"In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Attitude control of a quadrotor unmanned aerial vehicle based on linear extended state observer\",\"authors\":\"Yidao Ji, Yao Yu, Wenjun Zhang, Changyin Sun\",\"doi\":\"10.1109/CCDC.2015.7162128\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.\",\"PeriodicalId\":273292,\"journal\":{\"name\":\"The 27th Chinese Control and Decision Conference (2015 CCDC)\",\"volume\":\"18 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-05-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 27th Chinese Control and Decision Conference (2015 CCDC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCDC.2015.7162128\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 27th Chinese Control and Decision Conference (2015 CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2015.7162128","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Attitude control of a quadrotor unmanned aerial vehicle based on linear extended state observer
In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.
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