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Feedback Linearization with Improved ESO for Quadrotor Attitude Control

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14270))

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Abstract

Aiming at the nonlinear and strong coupling characteristics of quadrotor aircraft, as well as the attitude control problems with modeling errors and unknown disturbances, an improved active disturbance rejection control scheme is proposed in this paper. The feedback linearization method is used to convert the attitude dynamics model of unmanned aerial vehicles into a linear model, reducing the system error caused by small disturbance assumptions. The structure of the extended state observer (ESO) is improved so that it can simultaneously use the measurement information of angle and angular velocity to improve its estimation accuracy for time-varying disturbances; Based on the improved ESO, the design of an active disturbance rejection controller was completed and the stability of the control system was demonstrated. The simulation experimental results show that the self disturbance rejection controller based on improved ESO has strong anti-jamming and robustness.

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Author information

Authors and Affiliations

  1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Yangyang Dong, Yongbin Wang & Zijian Zhang

  2. System Design Institute of Hubei Aerospace Technology Academy, Wuhan, 430040, China

    Zequn Xia

  3. Beijing Institute of Space Mechanics and Electricity, Beijing, 100094, China

    Yongbin Wang

Authors
  1. Yangyang Dong
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  2. Zequn Xia
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  3. Yongbin Wang
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  4. Zijian Zhang
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Corresponding author

Correspondence to Zijian Zhang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Dong, Y., Xia, Z., Wang, Y., Zhang, Z. (2023). Feedback Linearization with Improved ESO for Quadrotor Attitude Control. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_19

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  • DOI: https://doi.org/10.1007/978-981-99-6492-5_19

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6491-8

  • Online ISBN: 978-981-99-6492-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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