Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneou...

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Main Authors: Suiyuan Shen, Jinfa Xu
Format: Article
Language:English
Published: Hindawi Limited 2020-01-01
Series:International Journal of Aerospace Engineering
Online Access:http://dx.doi.org/10.1155/2020/8876177
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spelling doaj-40d86d0b56fb4cbe9b081966d8c1081c2020-11-30T09:11:27ZengHindawi LimitedInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/88761778876177Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter TuningSuiyuan Shen0Jinfa Xu1National Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics & Astronautics, Nanjing, ChinaNational Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics & Astronautics, Nanjing, ChinaThe internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.http://dx.doi.org/10.1155/2020/8876177
collection DOAJ
language English
format Article
sources DOAJ
author Suiyuan Shen
Jinfa Xu
spellingShingle Suiyuan Shen
Jinfa Xu
Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
International Journal of Aerospace Engineering
author_facet Suiyuan Shen
Jinfa Xu
author_sort Suiyuan Shen
title Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
title_short Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
title_full Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
title_fullStr Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
title_full_unstemmed Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
title_sort attitude active disturbance rejection control of the quadrotor and its parameter tuning
publisher Hindawi Limited
series International Journal of Aerospace Engineering
issn 1687-5966
1687-5974
publishDate 2020-01-01
description The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.
url http://dx.doi.org/10.1155/2020/8876177
work_keys_str_mv AT suiyuanshen attitudeactivedisturbancerejectioncontrolofthequadrotoranditsparametertuning
AT jinfaxu attitudeactivedisturbancerejectioncontrolofthequadrotoranditsparametertuning
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