Title: ADRC methodology for a quadrotor UAV transporting hanged payload
Abstract: The research of a quadrotor delivering hanged payload is meaningful in many applications, but it's also a very challenging task because the payload will significantly change the dynamics of the quadrotor. Since the states of payload is hard to measure and the mass may change, the control strategy depending on precise models may not work. Thus, we propose the Active Disturbance Rejection Control strategy in this case. Using the Extended State Observer, we can estimate the disturbance in the quadrotor plant, which is caused by the dynamics of payload. By counteracting the disturbance in the system, we can achieve favorable performance of the quadrotor even the payload swing is introduced for experimental validation artificially.
Publication Year: 2016
Publication Date: 2016-08-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 16
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