Affiliation:
1. Nanjing University of Aeronautics and Astronautics
2. Nanyang Technological University
Abstract
In this paper, a self-repairing control scheme for attitude control of a quadrotor helicopter via active disturbance rejection control is proposed. Firstly, a model of the quadrotor helicopter is gained by its dynamic equations with pitch, roll and yaw axis. Then the active disturbance rejection controller is introduced, which is used to design the control system. The control system consists of PID controller in inner-loop and ADRC controller in outer-loop. Disturbances and uncertainties can be compensated by the ADRC to achieve smaller tracking error. Finally, the simulation results of the four-rotor helicopter validate the efficiency and self-repairing capability of the proposed control algorithm, compared with that of the PID control and the separate ADRC control.
Publisher
Trans Tech Publications, Ltd.
Reference12 articles.
1. Raptis Ioannis A, Valavanis Kimon P and Moreno Wilfrido A, A novel nonlinear backstepping controller design for helicopters using the rotation matrix, IEEE Transactions on Control Systems Technology, vol. 19, no. 2, pp.465-473, (2011).
2. Fuyang Chen, Wenli Luan and Rui Hou, A self-repairing control for the uncertain system of a helicopter using adaptive sliding mode technology, Advanced Materials Research, vol. 468-471, pp.529-533, (2012).
3. Fuyang Chen, Bin Jiang and Gang Tao, A self-repairing control scheme for the helicopter via adaptive sliding mode back-stepping technology, IFAC Proceedings Volumes (IFAC-Papers Online), vol. 8, pp.788-793, (2012).
4. Wang H, Peng Y and Wu W Q, Yaw angle control channel of subminiature unmanned helicopter based on ADRC, Frontiers of Manufacturing Science and Measuring Technology II, vol. 503-504, pp.1527-1531, (2012).
5. Sun L, Wang R, Sun J and Zhang H, Subsystem disturbance rejection control of turbo-shaft engine/helicopter based on cascade ADRC, Journal of Beijing University of Aeronautics and Astronautics, vol. 37, no. 10, pp.1312-1316, (2011).
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献