Aiming at the nonlinear and strong coupling characteristics of quadrotor aircraft, as well as the attitude control problems with modeling errors and unknown disturbances, an improved active disturbance rejection control scheme is proposed in this paper. The feedback linearization method is used to convert the attitude dynamics model of unmanned aerial vehicles into a linear model, reducing the system error caused by small disturbance assumptions. The structure of the extended state observer (ESO) is improved so that it can simultaneously use the measurement information of angle and angular velocity to improve its estimation accuracy for time-varying disturbances; Based on the improved ESO, the design of an active disturbance rejection controller was completed and the stability of the control system was demonstrated. The simulation experimental results show that the self disturbance rejection controller based on improved ESO has strong anti-jamming and robustness.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Feedback Linearization with Improved ESO for Quadrotor Attitude Control


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Dong, Yangyang (Autor:in) / Xia, Zequn (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    14 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Feedback Linearization with Improved ESO for Quadrotor Attitude Control

    Dong, Yangyang / Xia, Zequn / Wang, Yongbin et al. | TIBKAT | 2023


    Direct Adaptive Feedback Linearization for Quadrotor Control

    Mukherjee, Prasenjit / Waslander, Steven | AIAA | 2012


    Direct Adaptive Feedback Linearization for Quadrotor Control

    Mukherjee, P. / Waslander, S. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2012


    Singular Zone in Quadrotor Yaw–Position Feedback Linearization

    Zhe Shen / Takeshi Tsuchiya | DOAJ | 2022

    Freier Zugriff

    Adaptive Feedback Linearization Controller for Stabilization of Quadrotor UAV

    Rahmat, Mohd Fuaad / Eltayeb, Ahmed / Mohd Basri, Mohd Ariffanan | BASE | 2020

    Freier Zugriff