火力与指挥控制2018，Vol.43Issue(4)：48-51,4.DOI:10.3969/j.issn.1002-0640.2018.04.011
基于LADRC的四旋翼姿态解耦控制方法
Attitude Decoupling Control for Quadrotor Aircraft Based on Linear Active Disturbance Rejection Control Technique
摘要
Abstract
An attitude decoupling controller based on linear active disturbance rejection control (LADRC) is designed for small quadrotor aircraft,considering the problems existing in the controller based on active disturbance rejection control (ADRC),such as complicated design and parameters tuning,difficulties in project implementation. First,the nonlinear and couple model of small quadrotor aircraft are established,LADRC is introduced,describing the principles of its ability of decoupling rejection control for multiple-input and multiple-Output (MIMO) system and tuning method,then the model is decoupled. After that,the attitude controller based on second-order LADRC is designed and parameters is turned according to the desired settling time. Finally,simulation test the design is carried out. The simulation results indicate that the designed controller has strong robustness and anti-disturbance performance,and doesn't need accurate models. Also,there is only one parameter needs tuning in this controller,which makes the design easy to be realized. The controller shows great value in engineering.关键词
小型四旋翼飞行器/线性自抗扰控制器/姿态控制方法/解耦控制/参数整定Key words
small quadrotor aircraft/linear active disturbance rejection controller/attitude control/decoupling control/parameters tuning分类
航空航天引用本文复制引用
万慧,齐晓慧,朱子薇,张莹,孟丽洁..基于LADRC的四旋翼姿态解耦控制方法[J].火力与指挥控制,2018,43(4):48-51,4.基金项目
某重点实验室基金资助项目(ECMM2015009) （ECMM2015009）
