In this paper, the trajectory tracking control of a quadrotor UAV under external disturbances is considered. Hierarchical inner-outer loop control scheme is adopted which consists of two parts: the inner loop for attitude control which implements linear active disturbance rejection control strategy and the outer loop for position control which applies sliding mode control method. The stability prove of the closed loop system is given in the paper. Setting desired trajectory, the quadrotor can track it accurately. Simulation results show the good performance of the proposed control scheme under different disturbance conditions.


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    Title :

    Trajectory tracking control of a quadrotor UAV under external disturbances based on linear ADRC


    Contributors:
    Wu, Yanlei (author) / Sun, Jia (author) / Yu, Yao (author)


    Publication date :

    2016-11-01


    Size :

    2363432 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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