An Interacting Control Method for Quadrotor Based on ADRC
Hang Yu, Haodi Yao, Yuanhong Li, Fenghua He, Yao Yu · 2019
In this paper, a three-dimensional rendezvous control problem is investigated, where a quadrotor equipped with camera and processors is required to interact with moving ground robots. First, the description of the rendezvous problem is formulated. Second, a rendezvous control algorithm based on ADRC is proposed in order to solve the problems caused by image processing frequency, which guarantees the fast and accurate interaction. Moreover, simulation and experimental results are provided and analyzed.