The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.
Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning
2020
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Metadata by DOAJ is licensed under CC BY-SA 1.0
Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment
DOAJ | 2021
|Emerald Group Publishing | 2021
|