| Autor: |
Juan Diaz-Tellez, Alejandro Silva-Juárez, Jaime Estevez-Carreón, Rubén Senén García-Ramírez |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Revista de Simulación Computacional. :35-41 |
| ISSN: |
2523-6865 |
| DOI: |
10.35429/jcs.2020.11.4.35.41 |
| Popis: |
This paper proposes a robust attitude tracking control applied to Vertical Take-off and Landing Micro Aerial Vehicles (VANT) based on Active Disturbance Rejection Control (ADRC) approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, which is estimated online via extended state observer (ESO). Once the disturbance is determined, a quaternion-based controller is proposed, which compensates and relieves the disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators. The stability proof of the closed-loop (observer and control) is guaranteed in the ISS sense. The simulation results allow validating the theoretical features. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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