Aiming at the problem that the attitude control of UAV is easy to be affected by disturbance, this paper designs an adaptive fast terminal sliding mode active disturbance rejection attitude controller for quadrotor UAV combined with fast terminal sliding mode control technology and linear active disturbance rejection control (LARDC) technology. The proposed controller improves the convergence speed when the initial position is far from the equilibrium point, and realizes global fast convergence. Simulation results show that the controller has high robustness, and effectively suppresses the sliding mode chattering caused by uncertain disturbance.
Adaptive Sliding Mode Active Disturbance Rejection Control of Quadrotor UAV for Hydropower Station Geomorphology
2021-10-29
1046726 byte
Conference paper
Electronic Resource
English