Active Disturbance Rejection Fixed-Point Control of UAV during Ultra-High Voltage Electrical Testing
A continuous active disturbance rejection sliding mode control strategy based on finite-time con-vergent extended state observer technology is proposed for solving the active disturbance rejection fixed-point control problem of quadrotor unmanned aerial vehicle(UAV)during ultra-high voltage electrical testing.By firstly considering that the quadrotor UAV is difficult to accurately obtain variable information such as linear velocity and angular velocity during flight and are susceptible to external time-varying disturbances,an extended state observer with finite-time convergence is used to estimate unknown linear velocity,angular velocity and lumped disturbance terms.Moreover,the proposed strategy can effectively reduce the position and attitude tracking errors,eliminate the chattering phenomenon of sliding mode control and achieve high-precision fixed-point control of quadrotor UAV.Finally,the effectiveness of the proposed control strategy is fully verified through theory and simulation.
Quadrotor unmanned aerial vehicleActive disturbance rejection controlSliding mode con-trolFixed-point control
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