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Quadrotor modeling and control based on Linear Active Disturbance Rejection Control
2016 35th Chinese Control Conference (CCC), 2016This paper investigates an integrated process for design of the control system of a small quadrotor. A twelve degree of freedom dynamic model of the oblique cross quadrotor is first established. Then, to cope with the quadrotor's nonlinear and under-actuated characteristics, Active Disturbance Rejection Control (ADRC) systems are designed. Moreover, to
Jiaming Li, Rui Li, Haichao Zheng
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Ship tracking control based on linear active disturbance rejection control
2012 Third International Conference on Intelligent Control and Information Processing, 2012Owing to ship's high inertia, strong time lag, non-linearity and under-actuated characteristics, as well as sustaining external disturbances frequently, designing a high performance ship tracking controller is still one of the most important research topics of ship motion control.
Ronghui Li +3 more
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Linear Active Disturbance Rejection Control Based on UKF Identification
2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC), 2018To improve the estimation result of the linear extended state observer (LESO), we propose a linear active disturbance rejection control strategy based on the UKF identification. We use the UKF identification method to identify the unknown parameters of the system model and the controller gain $\mathrm {b}_{0}$ of the linear active disturbance rejection
Zhennan YAO +3 more
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Linear Active Disturbance Rejection Control From the Practical Aspects
IEEE/ASME Transactions on Mechatronics, 2018In this paper, important issues that could come up in practice of active disturbance rejection control (ADRC) due to a common assumption and some inevitable practical restrictions are investigated. The main idea behind ADRC is modeling effects of both internal uncertainties and external disturbances as an extra state called the total disturbance which ...
Behzad Ahi, Mohammad Haeri
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A generalized active disturbance rejection control approach for linear systems
2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA), 2015A generalized active disturbance rejection control (ADRC) approach is proposed for general linear systems. The method follows the idea of the conventional ADRC by using extended state observer (ESO) to estimate the generalized disturbance and using it in the feedback control to attenuate it quickly.
Rong Zhou, Wen Tan
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Linear active disturbance rejection control of quadrotor's altitude and attitude
2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), 2017The problem of how to control a quadrotor is investigated. A nonlinear model of the quadrotor is derived with Newton-Euler formulation and then simplified. With the simplified model, Linear Active Disturbance Rejection Control (LADRC) is used to control the altitude and attitude of the quadrotor.
Bo Ye, Weiyao Lan, Huiyu Jin, Cao Huang
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Stability of sampled-data linear active disturbance rejection control: A classical control approach
2017 13th IEEE International Conference on Control & Automation (ICCA), 2017Stability of continuous-time and sampled-data LADRC is investigated with classical control approach. For the second-order uncertain LTI plant, the LADRC is described as an interconnection structure. Then sufficient conditions to guarantee continuous-time and sampled-data LADRC stabilizing the plant are proved respectively, while in proving the main ...
Huiyu Jin +3 more
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A linear active disturbance rejection control approach for near space vehicle autopilot
2015 International Conference on Control, Automation and Information Sciences (ICCAIS), 2015The conventional PID controller parameters are difficult to be decided on the dynamics of the near space vehicle within a large flight envelope. In this study, a linear active disturbance rejection control approach is proposed. The model perturbation is estimated by the extended state observer, and then the error of closed-loop system is compensated by
Hui Li +4 more
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On the Stability of Linear Active Disturbance Rejection Control
Acta Automatica Sinica, 2014Zeng-Qiang CHEN +2 more
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