To address the problem that the quadrotor UAV is affected by multiple sources of disturbances such as external environmental disturbances, internal parameter perturbation and unmodelled dynamics during actual flight, an attitude controller with a combination of Active disturbance rejection control and fast terminal unidirectional sliding mode is proposed. The Lyapunov stability theorem is used to prove that the designed attitude controller meets the stability requirements, and the proposed attitude controller is simulated in MATLAB/Simulink software. Simulation results show that the attitude controller has good robustness and disturbance resistance.
Compound Control Method of ADRC and FTUSMC for Quadrotor UAV Attitude System
2023-08-11
5068172 byte
Conference paper
Electronic Resource
English
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