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.


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    Title :

    Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning


    Contributors:
    Suiyuan Shen (author) / Jinfa Xu (author)


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown