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Research On Active Disturbance Rejection Control Method For Quadrotor UAV

Posted on:2015-07-18Degree:MasterType:Thesis
Country:ChinaCandidate:S X YangFull Text:PDF
GTID:2298330467485422Subject:Control engineering
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Quadrotor is a kind of non-coaxial saucer-shaped aircraft. It has been widely used in civil and military fields for surveillance and investigation, because of simple structure, good mo-bility and low manufacture costs. The design of control system for quadrotor is very important in order to accomplish specific tasks. Cascade PID control and active disturbance rejection control are studied for quadrotor in this paper.Dynamic model with Newton-Euler equation is proposed based on working principle and dynamic characteristics of quadrotor, and simulation platform of control system is built in MATLAB/Simulink. To deal with nonlinerity, under-actuation, strong coupling and uncer-tainty of quadrotor, PID controller is designed for quadrotor. Cascade PID is adopted for atti-tude control, where attitude angle and angular velocity is separately controlled in main loop and subsidiary loop. The control method is implemented in simulation experiment and Smart-QR which is a quadrotor developed by ourselves. The simulation and actual experiment results show the control strategy is effective. But the parameter of the quadrotor and surrounding en-vironment is frequently changing during flying, the parameters of cascade PID controller need to be tuned repeatedly to achieve good performance.In order to attenuate the effects of the parameter variations and disturbances, an active disturbance rejection controller is designed for quadrotor. After arranging the transient dy-namics of the desired attitude and height, an extended state observer is designed to estimate the impact from internal and external disturbances, and realize corresponding compensations online. The effects of strong coupling, parametric uncertainties and external disturbances are able to be overcome by this module. After that, a nonlinear state error feedback law is designed to attenuate the tracking error. We have conducted multi-group experiments in simulation platform, and compared the results with those obtained from cascade PID controller. Simula-tion results show that active disturbance rejection controller not only accurately estimates and compensates the persistent disturbances, but also realizes the robustness to dynamic parametric uncertainties of the quadrotor. It meets requirements on the aircraft fast attitude maneuver and high stability. The performance indices are much superior to those of the PID controller.
Keywords/Search Tags:Quadrotor, Cascade PID Control, Active Disturbance Rejection Control
PDF Full Text Request
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