{"title":"Attitude control of a quadrotor unmanned aerial vehicle based on linear extended state observer","authors":"Yidao Ji, Yao Yu, Wenjun Zhang, Changyin Sun","doi":"10.1109/CCDC.2015.7162128","DOIUrl":null,"url":null,"abstract":"In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 27th Chinese Control and Decision Conference (2015 CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2015.7162128","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.
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