Abstract
The six degrees of freedom (6-DOF) trajectory planning of quadrotors with attitude constraints is studied. Based on active disturbance rejection control (ADRC) technology, a controller for quadrotors that can track both position and attitude is designed. Firstly, the nonlinear dynamic model of quadrotors is established. Next, the optimal trajectory with attitude constraints is solved under different performance indexes. Finally, based on ADRC method, a 6-DOF tracking control algorithm for quadrotors is designed. The control effect is simulated and compared with the traditional linear control method. The results indicate that ADRC method has superior control accuracy and stability for quadrotors with large attitude maneuvers.
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Liu, C., Zhou, H., Dong, X., Wang, D. (2022). Optimal Trajectory Generation of UAV Considering Attitude Constraints. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_167
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DOI: https://doi.org/10.1007/978-981-15-8155-7_167
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