【摘 要】
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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 contro
【机 构】
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Key Laboratory of Systems and Control,Academy of Mathematics and Systems Science,Chinese Academy of
论文部分内容阅读
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.
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