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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
会议名称2016 IEEE Chinese Guidance, Navigation and Control Conference
会议录名称Proceedings of 2016 IEEE Chinese Guidance, Navigation and Control Conference
页码1881 - 1886
会议日期August 8 - August 12, 2016
会议地点Nanjing , China
摘要This 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.
关键词Quadrotor Incremental Nonlinear Dynamic Inversion Integral Extended State Observer
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/14483
专题综合信息系统研究中心
通讯作者Zhiqiang Pu
作者单位1.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
推荐引用方式
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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