Title :
Attitude control of a quadrotor unmanned aerial vehicle based on linear extended state observer
Author :
Yidao Ji ; Yao Yu ; Wenjun Zhang ; Changyin Sun
Author_Institution :
Sch. of Autom. & Electr. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China
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.
Keywords :
active disturbance rejection control; attitude control; autonomous aerial vehicles; control system synthesis; helicopters; linear systems; observers; LESO; UAV; aerodynamic damping; attitude control; attitude mathematical model; controller design; disturbance estimation; feedback linear active disturbance rejection controller; linear extended state observer; linear feedback controller; modeling uncertainties; quadrotor unmanned aerial vehicle; stabilization; wind disturbance; Atmospheric modeling; Attitude control; Mathematical model; Observers; Robustness; Simulation; Uncertainty; LESO; attitude control; disturbance; quadrotor unmanned aerial vehicle;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162128
