Quadrotor Cascade Control System Design Based on Linear Active Disturbance Rejection Control
Source abstract
Abstract
In this paper, we propose a cascade control system design based on linear active disturbance rejection control (SMC&A-LADRC) to address the following quadrotor UAV problems: that the path is easily yawed when disturbed, the control parameters are difficult to optimize, and the tracking accuracy is low. The strategy can effectively eliminate external disturbances and adjust the controller parameters online so that the quadrotor UAV always flies on the optimal path to achieve energy optimization and long-endurance flight. The proposed cascade control system combines the advantages of sliding mode control (SMC) and linear active-disturbance rejection control (LADRC), using the linear extended state observer (LESO) to estimate the uncertain external disturbances and unmodeled internal dynamics of the quadrotor system, compensate for the uncertain signals under SMC chattering, optimize the PD controller parameters online using adaptive control to eliminate the effects of parameter deviations, and simplify the parameter adjustment process. Finally, a stability analysis of the quadrotor cascade control system is carried out by using the Lyapunov theorem of stability, and a simulation analysis is carried out using MATLAB to compare the results with those obtained with classical LADRC. The test results indicate that the control strategy of this paper is reasonable for utilization with a quadrotor attitude and displacement control system, allowing the quadrotor to fly on the optimal path with good anti-interference ability and a fast response speed.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Robotic Path Planning Algorithms · Distributed Control Multi-Agent Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China
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