TY - GEN
T1 - Robust adaptive attitude control of the quad-rotor UAV based on the LQR and NESO technique
AU - Zhou, Zeqiang
AU - Yu, Jianglong
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - Robust adaptive attitude control problems for the quad-rotor UAV with external disturbances and parametric uncertainties are investigated. Firstly, the nonlinear attitude movement model is established by considering the parametric uncertainties and the external disturbances. The linear quadratic regulator (LQR) controller is introduced to guarantee the control performance. Nonlinear extended state observer (NESO) is designed to estimate and compensate the internal uncertainties and external disturbance. Secondly, the robust adaptive attitude controller based on the LQR controller and the nonlinear extended state observer is proposed to achieve high precision attitude control. Then, the stability of the closed-loop system is proved. Finally, numerical simulations and physical experiments are performed to verify the effectiveness of theoretical results.
AB - Robust adaptive attitude control problems for the quad-rotor UAV with external disturbances and parametric uncertainties are investigated. Firstly, the nonlinear attitude movement model is established by considering the parametric uncertainties and the external disturbances. The linear quadratic regulator (LQR) controller is introduced to guarantee the control performance. Nonlinear extended state observer (NESO) is designed to estimate and compensate the internal uncertainties and external disturbance. Secondly, the robust adaptive attitude controller based on the LQR controller and the nonlinear extended state observer is proposed to achieve high precision attitude control. Then, the stability of the closed-loop system is proved. Finally, numerical simulations and physical experiments are performed to verify the effectiveness of theoretical results.
UR - https://www.scopus.com/pages/publications/85053131529
U2 - 10.1109/ICCA.2018.8444297
DO - 10.1109/ICCA.2018.8444297
M3 - 会议稿件
AN - SCOPUS:85053131529
SN - 9781538660898
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 745
EP - 750
BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PB - IEEE Computer Society
T2 - 14th IEEE International Conference on Control and Automation, ICCA 2018
Y2 - 12 June 2018 through 15 June 2018
ER -