CBA2016-0984 Teoria de Controle

A Modified Active Disturbance Rejection Control Applied to the Twin-Rotor System with Output Quantization

Jaime Arturo Dulce Galindo¹; Leonardo A. B. Tôrres¹; Guilherme Vianna Raffo¹

¹ Federal University of Minas Gerais

Resumo

The model-free strategy called Active Disturbance Rejection Control (ADRC) is applied to the pitch attitude control of a Twin-Rotor system. The original ADRC strategy is modified to account for the quantization of system's pitch angle associated with the use of an incremental encoder. The modifications include the use of Algebraic Differentiator to smooth out the measured pitch angle, together with a Robust and Exact Differentiator (RED) to estimate the main rotor propeller angular speed. Experimental results are provided to illustrate the effectiveness of the modified ADRC strategy.

Palavras-chave: ADRC; quantization error; differentiation; Twin-rotor

Como citar

Jaime Arturo Dulce Galindo; Leonardo A. B. Tôrres; Guilherme Vianna Raffo. “A Modified Active Disturbance Rejection Control Applied to the Twin-Rotor System with Output Quantization”. XXI Congresso Brasileiro de Automática. CBA2016. 2016. Código: CBA2016-0984