CASIA OpenIR  > 综合信息系统研究中心
Advanced Quadrotor Takeoff Control Based on Incremental Nonlinear Dynamic Inversion and Integral Extended State Observer
Du, Han(杜晗)1,2; Pu, Zhiqiang(蒲志强)1; Yi, Jianqiang(易建强)1; Qian, Hanbo(钱瀚博)3; Zhiqiang Pu
2016
Conference Name2016 IEEE Chinese Guidance, Navigation and Control Conference
Source PublicationProceedings of 2016 IEEE Chinese Guidance, Navigation and Control Conference
Pages1881 - 1886
Conference DateAugust 8 - August 12, 2016
Conference PlaceNanjing , China
AbstractThis paper presents an advanced control scheme
for quadrotor taking off process. Firstly a high-fidelity model is
established, with Coriolis force, gyro effect, and ground effect
taken into account. Then the quadrotor control system is
decoupled into three control loops, which are position loop,
angle loop, and inner loop. Dynamic inversion (DI) is applied to
design control laws for both the position and the angle loops.
Incremental nonlinear dynamic inverse (INDI) control law is
furtherly developed to cope with non-affine form of the inner
loop. To realize disturbance rejection and the measurement
noise attenuation, integral extended state observer (IESO) is
combined in this control scheme. Besides, arranged transient
process technique (ATP) is utilized in the control scheme to
smooth huge-jump desired input and connect different loops
with feasible transient process. Finally, through series of
simulations the effectiveness of the control scheme, as well as
robustness against external disturbances and measurement
noise are validated.
KeywordQuadrotor Incremental Nonlinear Dynamic Inversion Integral Extended State Observer
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14483
Collection综合信息系统研究中心
Corresponding AuthorZhiqiang Pu
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
3.国家国防科技工业局协作配套中心
Recommended Citation
GB/T 7714
Du, Han,Pu, Zhiqiang,Yi, Jianqiang,et al. Advanced Quadrotor Takeoff Control Based on Incremental Nonlinear Dynamic Inversion and Integral Extended State Observer[C],2016:1881 - 1886.
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