Skip to content

Event

Actuator-Aware Observer Inputs Proposed for Cascaded ADRC of Quadrotors

1 reports · 1 sources

Xuan-Quy Dao, Ngoc-Bich Le, and Le-Minh Nguyen propose an actuator-aware (AA) observer input method for cascaded linear active disturbance rejection control (LADRC) of quadrotors: the altitude and attitude observers use a constrained virtual input filtered through an assumed rotor model and aligned with measurement delay, while the horizontal observer uses acceleration reconstructed from measured attitude. Validation of the method is based on simulation: the authors evaluate it in MATLAB and PX4 software-in-the-loop (SITL), and state that the PX4 SITL runs reproduce the results; the reported performance limits are nominal tuning constraints, not conclusions from actual flight tests.

Report timeline

  1. Actuator-Aware Observer Inputs for Cascaded ADRC of Quadrotors

    The paper proposes actuator-aware (AA) observer inputs: the altitude and attitude observers use limited virtual inputs filtered by an assumed rotor model and aligned with the measurement delay, while the horizontal observers use acceleration reconstructed from measured attitude.

    arXiv cs.RO ·

Related topics

Motion controlSoftware and compute systemsResearch papers

Interest trend

Current
3
Peak
4Nov 4 01:00
Past 24 hours
–

The trend compares participants observed throughout the same period, so its range may be smaller than the current interest count. Move or tap to inspect each hour; use the arrow keys on a keyboard.