Quadrotor unmanned helicopter attitude control based on improved ADRC

机译：基于改进的ADRC的四轮车无人直升机姿态控制

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A kind of attitude control method for the quadrotor unmanned helicopter based on improved active disturbance rejection control (ADRC) is proposed in this paper. The dynamic model of the quadrotor unmanned helicopter is built, and the virtual control is introduced, then the non-linear model is decomposed into height, yaw, roll and pitch of the four independent channels and the disturbance rejection control technology is applied into the various channels. The simulation results show that ADRC can achieve the attitude augmentation control of the helicopter and have a good robustness. Also the results show that the improved ADRC is superior to classical ADRC both on performance and adaptability.

机译：本文提出了一种基于改进的主动扰动抑制控制（ADRC）的四轮压力机无人直升机的一种姿态控制方法。建立了四轮机器无人直升机的动态模型，介绍了虚拟控制，然后非线性模型分解为四个独立通道的高度，偏航，滚动和间距，并将干扰抑制控制技术应用于各种各样的频道。仿真结果表明，ADRC可以实现直升机的姿态增强控制，具有良好的鲁棒性。结果表明，改进的ADRC在性能和适应性方面优于古典ADRC。

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《IEEE Chinese Guidance, Navigation and Control Conference》|2014年||共6页
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Guo-Yan Xia; Zheng-Hua Liu;
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中图分类飞行控制系统与导航;
关键词
active disturbance rejection control; aircraft control; attitude control; helicopters; nonlinear control systems; ADRC; active disturbance rejection control; attitude augmentation control; attitude control method; disturbance rejection control technology; dynamic model; nonlinear model; quadrotor unmanned helicopter attitude control; virtual control; Attitude control; Educational institutions; Force; Helicopters; Mathematical model; Robustness; Rotors; attitude control; improved ADRC; quadrotor unmanned helicopter; robustness;

机译：主动扰动控制;飞机控制;姿态控制;直升机;非线性控制系统;ADRC;态度增强控制;姿态控制方法;干扰抑制控制技术;动态模型;非线性模型;Quadrotor无人直升机姿态控制;虚拟控制;教育机构;武力;直升机;数学模型;鲁棒性;转子;态度控制;改进的ADRC;Quadrotor无人直升机;鲁棒性;

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1. Payload dropping control of an unmanned quadrotor helicopter based on backstepping controller [J] . Jing Qiao, Zhixiang Liu, Youmin Zhang MATEC Web of Conferences . 2019,第3期

机译：基于Backstepping控制器的无人四旋翼直升机的载荷下降控制。
2. Design of Nonlinear Attitude Controller for an Unmanned Helicopter Based on Improved State-Dependent Riccati Equation Technique [J] . Runxia Guo, Aiguo Wu Advanced Science Letters . 2012,第2期

机译：基于改进的状态相关Riccati方程技术的无人直升机非线性姿态控制器设计
3. Disturbance observer-based feedback linearization control of an unmanned quadrotor helicopter [J] . Aboudonia Ahmed, El-Badawy Ayman, Rashad Ramy Proceedings of the Institution of Mechanical Engineers . 2016,第19期

机译：基于干扰观察者的无人四旋翼直升机反馈线性化控制
4. Quadrotor unmanned helicopter attitude control based on improved ADRC [C] . Guo-Yan Xia, Zheng-Hua Liu IEEE Chinese Guidance, Navigation and Control Conference . 2014

机译：基于改进型ADRC的四旋翼无人机姿态控制
5. Vision based control of unmanned aerial vehicles with applications to an autonomous four-rotor helicopter, quadrotor. [D] . Altug, Erdinc. 2003

机译：基于视觉的无人机控制，应用于自动四旋翼直升机，四旋翼飞机。
6. A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters [O] . ZeFang He, Long Zhao -1

机译：基于齐格勒-尼科尔斯规则的四旋翼直升机简单姿态控制PD参数
7. A Disturbance Observer Based Attitude Controller for Quadrotor Helicopters [O] . Mengxuan Guo, Xiaorong Wang, Suoli Guo 2016

机译：基于扰动观测器的四旋翼直升机姿态控制器

Quadrotor unmanned helicopter attitude control based on improved ADRC

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