A novel ADRC-based design for a kind of flexible aerocraft

• 作者: Sheng Zhong Yi Huang Sen Chen Lin Dai
• 来源期刊: 控制理论与技术（英文版）
• 年，卷（期）: 2021,（1）
• 所属期刊栏目: RESEARCH ARTICLES
• 页码范围: 35-48
• 页数: 14页
• 语种: 英文

摘要

The paper presents a novel control design,which is based on the idea of active disturbance rejection control(ADRC),for a kind of flexible aerocraft whose controlled variable cannot be measured directly.Since the original frame of ADRC can-not 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 effectively 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 effectiveness and robustness of the proposed ADRC are verified by simulations.