Design of a UAV Path Tracking Control System Based on ADRC
Authors: 
Di Yang, Peng Ji, Maoyong CaoAuthors Info & Claims
Pages 149 - 154
Abstract
This paper investigates a trajectory tracking simulation method for quadrotor unmanned aerial vehicles (UAVs). Initially, the Rapidly-exploring Random Tree (RRT) algorithm is utilized to accomplish path planning, followed by cubic spline interpolation to smooth the generated path, forming the target tracking trajectory. Based on this, Active Disturbance Rejection Control (ADRC) and Proportional-Integral-Derivative (PID) controllers are employed to perform trajectory tracking control of the quadrotor UAV. Experimental results demonstrate that the ADRC control method significantly outperforms the traditional PID control method in terms of accuracy and robustness in trajectory tracking, thereby validating the effectiveness and superiority of ADRC in complex trajectory tracking tasks.
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Index Terms
- Design of a UAV Path Tracking Control System Based on ADRC
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Published In
June 2024
399 pages
ISBN:9798400709937
DOI:10.1145/3687488
Copyright © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.
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Association for Computing Machinery
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Published: 18 November 2024
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ICCIR 2024
ICCIR 2024: 2024 4th International Conference on Control and Intelligent Robotics
June 21 - 23, 2024
Guangzhou, China
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Overall Acceptance Rate 131 of 239 submissions, 55%
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