A Self-Repairing Control Scheme for Quadrotor Helicopter via Active Disturbance Rejection Control

Abstract:

In this paper, a self-repairing control scheme for attitude control of a quadrotor helicopter via active disturbance rejection control is proposed. Firstly, a model of the quadrotor helicopter is gained by its dynamic equations with pitch, roll and yaw axis. Then the active disturbance rejection controller is introduced, which is used to design the control system. The control system consists of PID controller in inner-loop and ADRC controller in outer-loop. Disturbances and uncertainties can be compensated by the ADRC to achieve smaller tracking error. Finally, the simulation results of the four-rotor helicopter validate the efficiency and self-repairing capability of the proposed control algorithm, compared with that of the PID control and the separate ADRC control.

• Periodical: Applied Mechanics and Materials (Volume 404)
• Pages: 603-608
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.404.603
• Online since: September 2013
• Authors: Qing Bo Wu, Fu Yang Chen, Chang Yun Wen
• Keywords: ADRC, PID Control, Quadrotor, Self-Repairing

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