Home Journals Articles Updates About
CN
image
收藏切换
Quadrotor UAV Attitude Motion Control Based on Improved fal Function
收藏切换
PDF
Wen-jing LIU1, Teng-yu CHEN1, *, Chun-ying ZHAN2, Shao-feng WANG1
Science Technology and Engineering | 2025, 25(6) : 2453 - 2460
Less
收藏切换
Science Technology and Engineering | 2025, 25(6): 2453-2460
• Papers·Automation and Computational Technology •
Quadrotor UAV Attitude Motion Control Based on Improved fal Function
Full
Wen-jing LIU1, Teng-yu CHEN1, *, Chun-ying ZHAN2, Shao-feng WANG1
Affiliations
  • 1 College of Mechanical Engineering, Inner Mongolia University of Science and Technology/Inner Mongolia Autonomous Region Key Laboratory of Intelligent Diagnosis and Control of Electromechanical Systems, Baotou 014000, China
  • 2 Baotou North Seite Testing Technology Co., Ltd., Baotou 014000, China
Published: 2025-02-28 doi: 10.12404/j.issn.1671-1815.2401700
Outline
收藏切换

For the motion control of four-rotor UAV in attitude, the main method is the application of ADRC (active disturbance rejection control) system. For this system to deal with the complex interference with sensor noise, the previous fal function design still has many defects in application. Under the function of traditional fal function, the ESO(extended state observer) has the problems of insufficient observation accuracy and high chattering rate. Therefore, a new nonlinear smooth tfal function was improved on the basis of the previous fal function, and ESO was studied with this function. Finally, other ADRC methods were compared with this method in MATLAB/Simulink software, and the newly designed tfal function shows better convergence. The new ESO based on tfal design has obvious improvement in error estimation and error following performance. At the same time, compared with the improved function galn and the traditional function fal, the tracking capability of the new ESO attitude active disturbance rejection control system is improved by 2.3% and 4% respectively, and the anti-interference performance is improved by 50% and 67% respectively.

tfal function  /  quadcopters  /  attitude control
Wen-jing LIU, Teng-yu CHEN, Chun-ying ZHAN, Shao-feng WANG. Quadrotor UAV Attitude Motion Control Based on Improved fal Function[J]. Science Technology and Engineering, 2025 , 25 (6) : 2453 -2460 . DOI: 10.12404/j.issn.1671-1815.2401700
Appendix
Less
Year 2025 volume 25 Issue 6
PDF
354
133
Cite this Article
BibTeX
Article Info
doi: 10.12404/j.issn.1671-1815.2401700
  • Receive Date：2024-03-11
  • Online Date：2025-07-27
  • Published：2025-02-28
Article Data
Affiliations
History
  • Received：2024-03-11
  • Revised：2024-11-29
Funding
Affiliations
    1 College of Mechanical Engineering, Inner Mongolia University of Science and Technology/Inner Mongolia Autonomous Region Key Laboratory of Intelligent Diagnosis and Control of Electromechanical Systems, Baotou 014000, China
    2 Baotou North Seite Testing Technology Co., Ltd., Baotou 014000, China
References
Share
https://castjournals.cast.org.cn/joweb/kxjsygc/EN/10.12404/j.issn.1671-1815.2401700
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House