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SCIENCE CHINA Information Sciences
SCIENCE CHINA Information Sciences, Volume 62 , Issue 1 : 010201(2019) https://doi.org/10.1007/s11432-018-9548-5

Position tracking and attitude control for quadrotors via active disturbance rejection control method

Yuan YUAN 1,*, Lei CHENG 2, Zidong WANG 1, Chong SUN 2
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  • ReceivedJul 4, 2018
  • AcceptedJul 19, 2018
  • PublishedDec 19, 2018
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Abstract


Acknowledgment

This work was supported in part by Royal Society of the U.K., in part by Research Fund for the Taishan Scholar Project of Shandong Province of China, in part by National Natural Science Foundation of China (Grant No. 61503001), and in part by Alexander von Humboldt Foundation of Germany.


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  • Click to view Download high-quality image

    Figure 1

    (Color online) The schematic diagram of control.

  • Table 1   Parameters of the position controller
    Parameter Value Parameter Value
    $m_{1}$ $5.0$ $m_{2}$ $5.0$
    $n_{1}$ $0.5$ $n_{2}$ $0.5$
    $k_{1}$ $2.3$ $k_{2}$ $2.3$
    $l_{1}$ $7.5$ $l_{2}$ $7.6$
  • Table 2   Parameters of the attitude controller
    Parameter Roll Pitch Yaw
    $\gamma_{1}$ $1.4\times10^3$ $1.4\times10^3$ $1.3\times10^3$
    $\gamma_{2}$ $2.9\times10^4$ $3.0\times10^4$ $5.0\times10^3$
    $b_{0}$ $5.0\times10^2$ $5.0\times10^2$ $5.0\times10^2$
    $\eta_{1}$ $15.0$ $15.0$ $3.0$
    $p$ $1.0$ $1.0$ $10.0$
    $d$ $0.1$ $0.1$ $0.1$