Predictive Active Disturbance Rejection Control with Matched Delay for 2-DOF Helicopter Under Disturbances

This paper investigates the control problem of 2-DOF helicopter with different input delays and disturbances. To handle the different delays in the dynamics of pitch and yaw angles, a new predictive active disturbance rejection control (ADRC) featured with matched delay information is proposed. The...

Full description

Saved in:
Bibliographic Details
Published in2023 China Automation Congress (CAC) pp. 6161 - 6165
Main Authors Yang, Jinwei, Xiong, Chenxi
Format Conference Proceeding
LanguageEnglish
Published IEEE 17.11.2023
Subjects
2-DOF
active disturbance rejection control
Automation
Delays
disturbance
helicopter
Helicopters
Impedance matching
predictive
Robust control
Simulation
time delay
Online AccessGet full text

Cover

More Information
Summary:This paper investigates the control problem of 2-DOF helicopter with different input delays and disturbances. To handle the different delays in the dynamics of pitch and yaw angles, a new predictive active disturbance rejection control (ADRC) featured with matched delay information is proposed. The proposed predictive ADRC consists of three steps, including transferring the actual inputs to virtual inputs with matched delay, constructing the transferred virtual inputs by ADRC strategy, and designing a predictive module of actual inputs. To show the capability of the proposed ADRC, the comparative simulations with traditional ADRC are provided under different cases of delays.
ISSN:2688-0938
DOI:10.1109/CAC59555.2023.10451034