基于ROS的无人机悬停自抗扰控制

2018 XX Congreso Mexicano de Robótica (COMRob) Pub Date : 2018-09-01 DOI:10.1109/COMROB.2018.8689424

S. Orozco-Soto, J. M. Ibarra-Zannatha, A. J. Malo-Tamayo, Andres Cureno-Ramirez

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引用次数: 4

摘要

本文提出了一种采用自抗扰方法对无人机进行悬停调节的方案。该控制策略采用李雅普诺夫方法设计，以确保车辆垂直运动的渐近稳定性，包括用于干扰检测的滑动观测器。采用ROS中间件在Bebop 2四旋翼飞行器上实现了所提出的控制器，并将其与PD控制器进行了比较，即使存在干扰和未考虑的动力学，也显示出成功的高度调节结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Active Disturbance Rejection Control for UAV Hover using ROS

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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2018 XX Congreso Mexicano de Robótica (COMRob)

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