基于自抗扰控制器的四旋翼飞行器控制系统研究

2018 Chinese Control And Decision Conference (CCDC) Pub Date : 2018-06-01 DOI:10.1109/CCDC.2018.8407631

Yani Xu, W. Luo, Liang Zhang

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引用次数: 3

摘要

本文讨论了四旋翼机的硬件和软件系统。针对四旋翼机易受外界干扰的特点，提出了自抗扰控制器(ADRC)来控制四旋翼机。比较了自抗扰控制器与串级PID控制器的控制效果。实验结果表明，该自抗扰控制器能够实现四旋翼飞行器的姿态控制，具有较强的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research on control system of quadrotor based on ADRC

In this paper, the hardware and software systems for quadrotors are discussed. Because quadrotors are susceptible to outside interference, the auto-disturbance rejection controller (ADRC) is proposed to control quadrotor. The control effect of ADRC is compared with that of cascade PID controller. Experimental results show that ADRC can realize the attitude control of quadrotor with stronger robustness.

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来源期刊

2018 Chinese Control And Decision Conference (CCDC)

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