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| A novel ADRC‑based design for a kind of fexible aerocraft |
| ShengZhong,YiHuang,SenChen,LinDai |
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| (Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China;School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China;School of Mathematics and Information Science, Shaanxi Normal University, Xi’an, Shaanxi 710119, China;Beijing System Design Institute of Electro-Mechanic
Engineering, Beijing 100854, China) |
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| DOI：https://doi.org/10.1007/s11768-020-00030-y |
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| 基金项目:This work was supported by the National Key R&D Program of China (No. 2018YFA0703800) and the National Center for Mathematics and Interdisciplinary Sciences, Chinese Academy of Sciences. |
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| A novel ADRC‑based design for a kind of fexible aerocraft |
| Sheng Zhong,Yi Huang,Sen Chen,Lin Dai |
| (Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China;School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China;School of Mathematics and Information Science, Shaanxi Normal University, Xi’an, Shaanxi 710119, China;Beijing System Design Institute of Electro-Mechanic
Engineering, Beijing 100854, China) |
| Abstract: |
| The paper presents a novel control design, which is based on the idea of active disturbance rejection control (ADRC), for a kind of fexible aerocraft whose controlled variable cannot be measured directly. Since the original frame of ADRC cannot be directly applied, the paper puts forward a new extended state observer (ESO) and the corresponding ADRC law. In order to assign the poles of the closed-loop system to ideal positions such that the vibration can be quickly suppressed, an elastic damping term is added into feedback law. The advantages of the new ESO for efectively estimating both the rigid mode and elastic mode from the measurements are discussed. Moreover, the analysis on the stability, the relative stability and the steady state of the closed-loop system is given. Finally, the efectiveness and robustness of the proposed ADRC are
verifed by simulations. |
| Key words: Attitude control for fexible aerocraft · Active disturbance rejection control (ADRC) · Extended state observer (ESO) |
