@inproceedings{63b4657e699d4fe89f4deb154d3d8c9e,
title = "Optimal Trajectory Generation of UAV Considering Attitude Constraints",
abstract = "The six degrees of freedom (6-DOF) trajectory planning of quadrotors with attitude constraints is studied. Based on active disturbance rejection control (ADRC) technology, a controller for quadrotors that can track both position and attitude is designed. Firstly, the nonlinear dynamic model of quadrotors is established. Next, the optimal trajectory with attitude constraints is solved under different performance indexes. Finally, based on ADRC method, a 6-DOF tracking control algorithm for quadrotors is designed. The control effect is simulated and compared with the traditional linear control method. The results indicate that ADRC method has superior control accuracy and stability for quadrotors with large attitude maneuvers.",
keywords = "Active disturbance rejection control, Attitude constraint, Optimal trajectory generation, Quadrotor, Tracking control",
author = "Chunjing Liu and Hao Zhou and Xiaofei Dong and Dongbin Wang",
note = "Publisher Copyright: {\textcopyright} 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2020 ; Conference date: 23-10-2020 Through 25-10-2020",
year = "2022",
doi = "10.1007/978-981-15-8155-7\_167",
language = "英语",
isbn = "9789811581540",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "1985--1999",
editor = "Liang Yan and Haibin Duan and Xiang Yu",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020",
address = "德国",
}