Author:
Cheng ZiLong,Liu Jia,Zhang MingFeng,Zhao Nan,Wang MengYuan,Zhang YunXi
Abstract
Abstract
In this paper, the attitude control problem based on active disturbance rejection control (ADRC) is studied for nonlinear underactuated quadrotor aircraft with parametric uncertainties and modeling disturbances. The simplified dynamics model of the quadrotor is established by using Newton-Euler equation, and the ADRC is applied to control the attitude control of the quadrotor. Finally, through numerical simulations, the performance of the ADRC and traditional PID algorithm are compared, the results show that the attitude control algorithm based on ADRC has better performance, and has excellent ability to resist disturbance.
Subject
General Physics and Astronomy
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