Trajectory Tracking Control of Quadrotor based on PID-IADRC
Aiming at the non-linear and strong coupling characteristics of quadrotor,a PID-IADRC trajectory tracking controller was designed in this paper.Firstly,the nonlinear mathematical model of the quedrotor was established.And then an improved active disturbance rejection controller (IADRC) was designed for inner ring attitude loop,the each link of the traditional active disturb-ance rejection control (ADRC) was simplified by using the inverse hyperbolic tangent function.Af-terwards,PID was used for the position loop.Finally,the effectiveness of the designed controller was verified through numerical simulation.The results showed that,compared with the traditional PID,the difficulty of parameter tuning of the PID-IADRC had been reduced,and the control accu-racy had been improved.
quadrotorimproved ADRCPIDtrajectory tracking control
万方数据
维普
