基于ADRC的小型四旋翼无人直升机控制方法研究

Research on Micro Quadrotor Control Based on ADRC

以国防科技大学机器人实验室自行研制的小型四旋翼直升机为研究对象,根据牛顿-欧拉方程建立了小型四旋翼直升机的动力学模型;首次将自抗扰控制器运用于小型四旋翼直升机。在实验平台上实现了小型四旋翼直升机的姿态增稳控制。仿真结果和实验数据表明自抗扰控制器在小型四旋翼直升机姿态控制中具有很好的鲁棒性。

Taking the micro quadrotor as a research object, the dynamic model of the micro quadrotor was built according to Newton-Euler formalism, and active disturbance rejection controllers（ADRC） was used in the control of the micro quadrotor for the first time. The attitude augmentation control of the micro quadrotor was realized on the experiment platform. The simulation results and experiment data indicate that ADRC is robust in the attitude control of the micro quadrotor.