Abstract
One of the most useful under-actuated unmanned aerial vehicles (UAVs) is the quadcopter. It is an excellent area of research in control theory because of its non-linear coupled dynamic representation. In this paper, the Newton–Euler formalism describes a nonlinear model that combines the dynamics of translation and rotation considering the uncertainties of the parameters. The objective of the control is to follow the reference trajectory by simultaneously controlling the altitude and orientation. One of the most recent strategies of control theory, active disturbance rejection control (ADRC), is used for regulator synthesis. Simulations in the Matlab/Simulink environment show the performance of the designed ADRC controller.
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Mouchrif, I., Lachkar, I., Abdelmajid, A., Taame, A. (2024). ADRC Control of an Unmanned Under-Actuated Aerial Vehicle. In: El Fadil, H., Zhang, W. (eds) Automatic Control and Emerging Technologies. ACET 2023. Lecture Notes in Electrical Engineering, vol 1141. Springer, Singapore. https://doi.org/10.1007/978-981-97-0126-1_1
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DOI: https://doi.org/10.1007/978-981-97-0126-1_1
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