S. Orozco-Soto, J. M. Ibarra-Zannatha, A. J. Malo-Tamayo, Andres Cureno-Ramirez
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引用次数: 4
Abstract
This paper presents an alternative for UAVs hover regulation by means of ADRC approach. The proposed control strategy was designed using Lyapunov's method to ensure asymptotic stability for vertical motion of the vehicle, including a sliding-observer for disturbance detection. The proposed controller was implemented in a Bebop 2 quadrotor using ROS middleware, and it was compared with a PD controller, showing successful results for altitude regulation even in presence of disturbances and unconsidered dynamics.
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