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浏览/检索结果: 共2条，第1-2条 帮助 限定条件 发表日期：2012    专题：长春光学精密机械与物理研究所    第一署名单位    第一作者单位    通讯作者单位     已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Trajectory tacking control of a quad-rotor based on active disturbance rejection control (EI CONFERENCE) 会议论文 2012 IEEE International Conference on Automation and Logistics, ICAL 2012, August 15, 2012 - August 17, 2012, Zhengzhou, China Gong X.; Tian Y.; Bai Y.; Zhao C. 收藏  |  浏览/下载：23/0  |  提交时间：2013/03/25 The objective of this paper is to deal with a trajectory tracking of a Quad-rotor unmanned aerial vehicle (UAV). For the model uncertainty  the external disturbance and the coupling factor are considered  an active disturbance rejection control (ADRC) algorithm is introduced into the designing procedure. The aircraft dynamic model is proposed in this article  based on which the closed-loop control system is divided into four independent channels with the coupling factor compensated by the extended state observer (ESO). The nonlinear state error feedback (NLSEF) algorithm is designed in each channel to improve the closed-loop dynamics. In this article  the ADRC controller is expressed in the discrete form. And finally  the simulation results show that the proposed control algorithm achieves a favourable tracking performance. 2012 IEEE.   Capability of the extended state observer for minimum phase plants with unknown orders and uncertain relative degrees (EI CONFERENCE) 会议论文 31st Chinese Control Conference, CCC 2012, July 25, 2012 - July 27, 2012, Hefei, China Zhao C.; Yang X.; Xiong J.; Lin X. 收藏  |  浏览/下载：9/0  |  提交时间：2013/03/25 The observing capability of the active disturbance rejection control (ADRC) for the minimum phase plants with unknown orders and uncertain relative degrees is discussed in this paper. The frequency performance of the linear extended state observer (LESO) is analyzed. It is proved that ESO can estimate the required states at the designed speed in spite of a large range of uncertainties. Finally  the results are verified by simulations. 2012 Chinese Assoc of Automati.