Quadrotor helicopter control based on LADRC & nonlinear mixed H2/H∞ control structure

被引：0
|
作者：
Liu J. [1 ]
Gao Q. [2 ]
Sun M. [1 ]
Chen Z. [1 ]
机构：
[1] College of Artificial Intelligence, Nankai University, Tianjin
[2] School of Electrical Engineering, Tianjin University of Technology, Tianjin
来源：
Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) | 2019年 / 50卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Linear active disturbance rejection control(LADRC); Nonlinear mixed H[!sub]2[!/sub]/H[!sub]∞[!/sub] control; Quadrotor helicopter; Robust control; Unmanned aerial vehicle(UAV) control;
D O I：
10.11817/j.issn.1672-7207.2019.04.015
中图分类号：
学科分类号：
摘要：
In order to realize the path tracking for a quadrotor helicopter, a nonlinear robust control strategy based linear active disturbance rejection control(LADRC) and nonlinear mixed H2/H∞ control was proposed. The nonlinear model for the helicopter obtained by the Lagrange-Euler formalism was divided into rotational motion subsystem and translational motion subsystem. To stabilize the rotational movements, a nonlinear mixed H2/H∞ controller was used. To track the reference trajectory, a linear active disturbance rejection controller was designed for translational motion subsystem. The results show that the proposed nonlinear robust control strategy has high performance and strong robustness in the presence of the parametric uncertainty and sustained external disturbance. © 2019, Central South University Press. All right reserved.
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页码：873 / 880
页数：7
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