A Method of Attitude Control for Quadrotor Helicopter Based on Disturbance Observer
- DOI
- 10.2991/icsnce-16.2016.70How to use a DOI?
- Keywords
- Attitude control; Disturbance observer; Backstepping control
- Abstract
In this paper, an alternative control strategy based on the proportional integral (PI) observer is developed for attitude stabilization of a quadrotor subject to external disturbances. The PI observer has a simple structure with only two parameters that are needed to tune. Moreover, unlike high gain observers, gains of the PI observer can be controlled in a proper level because of applies of the integral action.This control strategy leads to a composite controller consisting of a backstepping controller and a PI disturbance observer. The design procedure for this composite controller consists of two stages. In the first stage, a PI disturbance observer is designed to estimate the external disturbances. In the second stage, a backstepping controller is designed to stabilize the attitude of a quadrotor under the assumption that the disturbance is measurable. And then the controller is integrated with the previous designed observer by replacing the disturbance in control law with its estimation. The resulting observer based controller can stabilize the attitude of a quadrotor subject to external disturbances and model inaccuracy. These results are confirmed by numerical simulations.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Guodong Jin AU - Libin Lu PY - 2016/07 DA - 2016/07 TI - A Method of Attitude Control for Quadrotor Helicopter Based on Disturbance Observer BT - Proceedings of the 2016 International Conference on Sensor Network and Computer Engineering PB - Atlantis Press SP - 359 EP - 364 SN - 2352-5401 UR - https://doi.org/10.2991/icsnce-16.2016.70 DO - 10.2991/icsnce-16.2016.70 ID - Jin2016/07 ER -