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• W4386869698 abstract "In order to solve the problem of load variation and nonlinear strong coupling of the quadrotor load unmanned aerial vehicle(UAV), this paper proposes a fuzzy adaptive linear active disturbance rejection control algorithm based on the Kalman filter(KFFA-LADRC). Firstly, according to the established dynamics model of the quadrotor load UAV, the linear extended state observer(LESO) and the controller based on the bandwidth method are designed. Secondly, to enhance system adaptability and robustness, a real-time fuzzy adaptive controller is introduced to dynamically adjust the controller parameters. Furthermore, to tackle uncertainty disturbances arising from sensor noise and unknown external disturbances, the Kalman filter is employed to predict the output state, which provides the optimal estimation input for the LESO. The approach not only realizes the stable control of internal interference, but also reduces the dependence of the Kalman filter on the mathematical model. Finally, simulation results substantiate the efficacy of the proposed KFFA-LADRC, highlighting its robustness and adaptability in accommodating variations in load mass, sensor noise, and external interferences within unfamiliar environments." @default.
• W4386869698 created "2023-09-20" @default.
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• W4386869698 date "2023-01-01" @default.
• W4386869698 modified "2023-10-06" @default.
• W4386869698 title "Fuzzy Adaptive Linear Active Disturbance Rejection Control for Quadrotor Load UAV based on Kalman Filter" @default.
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• W4386869698 doi "https://doi.org/10.1109/access.2023.3317171" @default.
• W4386869698 hasPublicationYear "2023" @default.
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