ATTITUDE CONTROL OF QUADCOPTER BASED ON SELF-TUNING LINEAR ACTIVE DISTURBANCE REJECTION

摘要

Linear active disturbance rejection control is a modeless control scheme. The controller parameter tuning effect has great influence on the control quality. First, the influence of the parameters of the linear active disturbance controller on the control quality was studied comprehensively and thoroughly. Based on the research results, it was presented of the parameters active-tuning workflow of the linear active disturbance rejection controller based on expert rules. The control and self-tuning strategy were applied to attitude control of the quadcopter, and the real flight test showed that the linear active disturbance rejection controller based on self-tuning can achieve a good control effect on the attitude of the quadcopter.