Zhaochen Lin, Xiyang Liu, Yinbao Niu, Ning Hao, Fenghua He
{"title":"An Improved LADRC Algorithm for Quadrotors","authors":"Zhaochen Lin, Xiyang Liu, Yinbao Niu, Ning Hao, Fenghua He","doi":"10.23919/CCC50068.2020.9188923","DOIUrl":null,"url":null,"abstract":"Inthis paper, a quadrotor’s tracking control problem is investigated in which the feedback loop has a time delay caused by transmission. First, the relative motion model is established. Then, an improved Linear Active Disturbance Rejection Controller(LADRC) algorithm is proposed to deal with the time delay in feedback. Finally, simulation and experimental results show the effectiveness of the proposed algorithm.","PeriodicalId":255872,"journal":{"name":"2020 39th Chinese Control Conference (CCC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 39th Chinese Control Conference (CCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/CCC50068.2020.9188923","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
Inthis paper, a quadrotor’s tracking control problem is investigated in which the feedback loop has a time delay caused by transmission. First, the relative motion model is established. Then, an improved Linear Active Disturbance Rejection Controller(LADRC) algorithm is proposed to deal with the time delay in feedback. Finally, simulation and experimental results show the effectiveness of the proposed algorithm.
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