Position and attitude control of a quadrotor is discussed in this paper.A two-loop structure is adopted for the position and attitude control of the quadrotor,with the inner loop for the attitude and altitude,and the ...
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Position and attitude control of a quadrotor is discussed in this paper.A two-loop structure is adopted for the position and attitude control of the quadrotor,with the inner loop for the attitude and altitude,and the outer loop for the horizontal *** order to reject the unmeasured disturbance due to wind gust and other uncertainties,linear active disturbance rejection control(LADRC) is adopted in the inner loop,and the outer loop adopts two simple PD *** and tuning of the inner and outer controllers are *** results show that the proposed control strategy can track the desired position and attitude and meanwhile can reject the unmeasured disturbances and uncertainties of the quadrotor quickly.
Linear active distnrbance rejection control(LADRC) is shown to be a simple and effective method as a substitute of conventional PID ***,the tuning of the LADRC parameters needs some experience,especially for multivari...
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ISBN:
(纸本)9781479900305
Linear active distnrbance rejection control(LADRC) is shown to be a simple and effective method as a substitute of conventional PID ***,the tuning of the LADRC parameters needs some experience,especially for multivariable ***-tnrbine units are widely used in power generation industry,and are typical multivariable systems with strong conpling,nonlinearity,large time delay and large *** this paper,an LADRC scheme is proposed for boiler-tnrbine units which compromises a decoupling compensator and two SISO linear active distnrbance rejection *** compensator helps reduce the strong conpling between the two outputs and two LADRCs further reduce the external disturbances and model *** LADRC can estimate the distnrbances via extended state observer(ESO),it will eliminate the disturbance quickly independent of the accurate mathematical model of the *** results show that the LADRC structure for boiler-tnrbine units can achieve good decoupling and good disturbance rejection with robustness,and it is easy to tune and implement in practice.
This paper deals with the problem of the state estimation and the sensor faults detection for nonlinear perturbed systems described by Takagi-Sugeno (T-S) fuzzy models with unmeasurable premise variables. Indeed, a ...
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This paper deals with the problem of the state estimation and the sensor faults detection for nonlinear perturbed systems described by Takagi-Sugeno (T-S) fuzzy models with unmeasurable premise variables. Indeed, a T-S observer is synthesized, in descriptor form, to estimate both the system states and the sensor faults simultaneously. The idea of the proposed approach is to introduce the sensor fault as an auxiliary variable in the state vector. Besides, the T-S model with unmeasurable premise variables is reduced to a perturbed model with measurable variables. Convergence conditions are established with Lyapunov theory and the H∞ performance in order to guarantee the best robustness to disturbances. These conditions are expressed in terms of linear matrix inequalities (LMIs). The parameters of the observer are computed using the solution of the LMI conditions. Finally, a numerical example is given to illustrate the design procedures. Simulation results show the satisfactory performances.
Linear active disturbance rejection control(LADRC) method is investigated for the load frequency control(LFC) of power *** the model and the structure of the system,a second-order LADRC is adopted and the design proce...
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ISBN:
(纸本)9781479900305
Linear active disturbance rejection control(LADRC) method is investigated for the load frequency control(LFC) of power *** the model and the structure of the system,a second-order LADRC is adopted and the design procedure is *** is found that LADRC is a model-independent control method with only two tuning parameters,thus it is very practical in industrial *** examples show that LADRC can damp the load disturbance very well but there are some limitations in the LADRC method.
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