2020
DOI: 10.1007/978-3-030-50936-1_112
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Error-Based Active Disturbance Rejection Altitude/Attitude Control of a Quadrotor UAV

Abstract: In this paper, we uncover a new connection between standard PI/PID controllers and active disturbance rejection control (ADRC), from which we establish formal conditions of equivalence between the two control schemes. Using the equivalence, we devise a stepby-step procedure of transitioning from PI/PID to error-based ADRC. We also show how to go from 1DOF to 2DOF ADRC while retaining a standard 2DOF PI/PID structure. Both procedures facilitate expressing error-based ADRC schemes as standard industrial 1DOF and… Show more

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Cited by 5 publications
(1 citation statement)
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“…The main idea behind it is to make the implementation of ADRC resemble that of those currently used industrial solutions (like PID), hence making it easier to implement in real applications or to swiftly replace the existing control algorithm. This error-based adaptation already found itself useful in various control scenarios, like robust tracking in an under-actuated mass-spring system [34], altitude/attitude control of a quadrotor UAV [35], and motion control in robotic manipulators [36,37].…”
Section: Contributionmentioning
confidence: 99%
“…The main idea behind it is to make the implementation of ADRC resemble that of those currently used industrial solutions (like PID), hence making it easier to implement in real applications or to swiftly replace the existing control algorithm. This error-based adaptation already found itself useful in various control scenarios, like robust tracking in an under-actuated mass-spring system [34], altitude/attitude control of a quadrotor UAV [35], and motion control in robotic manipulators [36,37].…”
Section: Contributionmentioning
confidence: 99%