Attitude Decoupling Control for Quadrotor Aircraft Based on Linear Active Disturbance Rejection Control Technique

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Zhou, Saijun^1 ; Wan, Hui^1 ; Yang, Sen^1 ; Zhang, Chengwang^1 ; Xiong, Xuying^1

Army Engineering University, Shijiazhuang

050003, China^1

关键词: Active disturbance rejection controls;    Attitude controller;    Decoupling controllers;    Decoupling controls;    Linear active disturbance rejection controls;    Multiple input and multiple output systems;    Project implementation;    Rejection controls;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/4/042034/pdf
DOI  :  10.1088/1757-899X/569/4/042034

来源: IOP

【 摘 要 】

An attitude decoupling controller based on linear active disturbance rejection control (LADRC) is designed for small quadrotor aircraft, considering the problems existing in the controller based on active disturbance rejection control (ADRC), such as complicated design and parameters tuning difficulties in project implementation. First, the nonlinear and couple model of small quadrotor aircraft were established, and the LADRC was introduced, which described the principles of the ability of decoupling rejection control for multiple-input and multiple-output (MIMO) system and tuning method, then the model was decoupled. After that, the attitude controller based on second-order LADRC is designed and parameters is turned according to the desired settling time. F. Finally, the simulation test of the design was carried out. The simulation results indicate that the designed controller has strong robustness and anti-disturbance performance, and does not have accurate models. Moreover, there is only one parameter needs tuning in this controller, which makes the design easy to be realized and shows great engineering value.