| Citation: | WAN Hui, Qi Xiaohui, LI Jieet al. Attitude decoupling control and stability analysis of SADRC based quadrotor system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(12): 2274-2283. doi: 10.13700/j.bh.1001-5965.2019.0620(in Chinese)
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An Switch in linear-nonlinear Active Disturbance Rejection Control (SADRC) attitude decoupling control approach was proposed due to the underactuated, strong coupling characteristics of quadrotor. First, the mathematical model of the quadrotor attitude was formulated by taking quadrotor aircraft platform as research object. The SADRC and the basic principles of it were introduced. Then, an attitude decoupling controller based on SADRC was designed, followed by the stability analysis via Lyapunov function. Finally, the control performance of SADRC is verified by simulation experiments. The results indicate that SADRC controller possesses better performance to both Linear Active Disturbance Rejection Control (LADRC) and Nonlinear Active Disturbance Rejection Control (NLADRC) in anti-disturbance and robustness in some occasions, and has potential applications in engineering practice.
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