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中文摘要：
本文首先介绍了自抗扰控制器的结构组成,包括跟踪微分器、扩张状态观测器以及非线性状态误差反馈律,及各部分的典型算法.针对四旋翼盘旋系统的姿态控制问题,设计了3种离散型自抗扰控制器,搭建了仿真结构图,并进行了参数整定,得到了优良的仿真结果.进而在实际装置上进行试验,调试出了令人满意的姿态实时控制结果.实时控制结果表明,文中所设计的自抗扰控制器可以满足控制精度及快速性的要求,并且具有抗干扰性能、稳定控制能力以及对非线性强耦合系统的解耦能力.最后,总结并分析了3种自抗扰控制器的优缺点及适用范围.
英文摘要：
The structure of active disturbance rejection control（ADRC） technique is described in detail, including the tracking differentiator, extended state observer and nonlinear state error feedback. Typical algorithms of each part are given as well. In order to control the attitude of a quadrotor hovering system as we desired, we design three kinds of discrete ADRC. Simulations and real time control experiments are carried out based on Simulink. After parameter adjustment,experimental results can be obtained and it shows that the ADRC can meet the required control accuracy and rapidity. It also indicates that the controller has strong robustness and anti-disturbance performance, which can control the nonlinear coupling systems effectively. Eventually, the advantages and scope of application of the three controllers are summarized.
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