A kind of attitude control strategy for the quadrotor based on active disturbance rejection control(ADRC) is proposed in this ***,the dynamic model using Newton–Euler formula of the quadrotor helicopter is *** accord...
详细信息
A kind of attitude control strategy for the quadrotor based on active disturbance rejection control(ADRC) is proposed in this ***,the dynamic model using Newton–Euler formula of the quadrotor helicopter is *** according to the order of dynamics equations design corresponding ***,in consideration of the characteristics of uncertain parameter of ADRC,the Glowworm Swarm Optimization(GSO) is designed to optimize the controller parameters so as to enhance the system ***,the comparative simulation for attitude of quadrotor is developed to verify the effectiveness of the proposed control *** results of simulations show that the proposed controller possesses strong robustness and high performances.
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