Design of ADRC Controllers for Quadrotors
| Autor: | Yang, Yun-Hsiang, 楊雲翔 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 The purpose of this thesis is to implement a controller for a quadrotor by using Arduino Mega 2560. First, we explain how to get the dynamic equation for a quadrotor by the Newton-Euler approach. Then, we design the controller by the active disturbance rejection control method. By using a extended state observer, we can effectively estimate the total disturbance caused by the external disturbance and uncertain parameters of the system. On the basis of the estimated total disturbance, we can design the control signal to compensate the total disturbance and to balance the quadrotor. The results of simulations and experiments validate the proposed methods. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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