To address the periodic disturbances introduced by the manipulator mounted on the drone, as well as the overall system parameter variations caused by the robotic arm carried by the Unmanned Aerial Vehicle (UAV), the fixed-time convergence observer (FTCO) is introduced to ADRC to enhance the dynamic characteristics, including overshoot and convergence speed. The Active Disturbance Rejection Controller (ADRC) is employed as the fundamental controller for UAV systems while the FTCO is used to rapidly observe disturbances and compensate them to the controller, aiming to counteract interference. The UAV system is established to verify the effect of Fixed-Time Convergence Observer-Active Disturbance Rejection Controller (FTCO-ADRC) when it is compared to conventional ADRC and PID controller. The simulation outcome reveals that the FTCO-ADRC perform better in convergence speed, overshoot and robustness.
Attitude Stabilization Control for Unmanned Aerial Vehicle with Robotic Arm Based on Fixed-Time Observer Active Disturbance Rejection Control
Lect. Notes Electrical Eng.
International Conference on Machine Learning, Cloud Computing and Intelligent Mining ; 2024 ; Shennongjia, China August 08, 2024 - August 11, 2024
Proceedings of the 3rd International Conference on Machine Learning, Cloud Computing and Intelligent Mining (MLCCIM2024) ; Kapitel : 12 ; 130-142
01.02.2025
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
SAGE Publications | 2017
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