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QUAV attitude control based on linear active disturbance rejection control
- 1 Wuhan Polytechnic University
- 2 Wuhan University of Technology
- 3 Guangdong University of Technology
* Author to whom correspondence should be addressed.
Abstract
Unmanned Aerial Vehicle (UAV) are currently gaining popularity. This paper proposes a method to apply Linear Active Disturbance Rejection Control (LADRC) to Quadrotor Unmanned Aerial Vehicle (QUAV) controller to optimize the traditional PID controller. Firstly, the application and shortcomings of traditional PID control in UAV are introduced, and the LADRC method is proposed. Then linear simplification and Parameter Setting of ADRC are carried out. In the Simulink environment, according to the mathematical model of the QUAV, a QUAV dynamics simulation platform is established. Finally, according to different control channels, different control algorithms are designed, and tracking models are introduced in various attitudes to simulate and verify the control effect of LADRC. The results show that the LADRC controller is effective, the LADRC can be effectively combined with the traditional PID control. The application in the QUAV can realize more precise QUAV speed tracking control and the stable flight of the QUAV. Compared with the traditional PID controller, under the experimental conditions of this paper, the LADRC controller has more precise control accuracy and more efficient control efficiency. Finally, this paper summarizes the design of LADRC and makes a brief outlook on the development of UAVs.
Keywords
PID control, QUAV, LADRC, parameter tuning, UAV dynamics
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Cite this article
Li,X.;Tong,J.;Zhu,H. (2023). QUAV attitude control based on linear active disturbance rejection control. Applied and Computational Engineering,20,62-71.
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