To enable quadrotor aircraft to fly autonomously in precise paths and to reduce the influence of quadrotor dynamic model error, this paper proposes a hybrid controller with nonlinear active disturbance rejection control (NLADRC) and PID control for trajectory tracking. Combined with the characteristics of quadrotor aircraft dynamic model, the position controller is designed by PID and to obtain the desired attitude angle information through calculating the desired location information, and then to design the attitude controller by NLADRC for achieving the purpose of tracking expected attitudes. The simulation results indicate that the proposed controller can achieve good trajectory tracking. Compared with the PID controller, the proposed hybrid controller is more robust and has higher tracking accuracy.
Trajectory Tracking Controller Based on PID-NLADRC
2019-09-01
545987 byte
Conference paper
Electronic Resource
English
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