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Mathematical Problems in Engineering
Volume 2017, Article ID 6162194, 8 pages
Research Article

Current-Loop Control for the Pitching Axis of Aerial Cameras via an Improved ADRC

1Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China
2Key Lab of Electric and Control of Anhui Province, Anhui Polytechnic University, Wuhu 241000, China

Correspondence should be addressed to BingYou Liu; nc.ude.ctsu.liam@900ybl

Received 13 July 2016; Revised 9 October 2016; Accepted 4 December 2016; Published 6 February 2017

Academic Editor: Rafael M. Herrera

Copyright © 2017 BingYou Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


An improved active disturbance rejection controller (ADRC) is designed to eliminate the influences of the current-loop for the pitching axis control system of an aerial camera. The improved ADRC is composed of a tracking differentiator (TD), an improved extended state observer (ESO), an improved nonlinear state error feedback (NLSEF), and a disturbance compensation device (DCD). The TD is used to arrange transient process. The improved ESO is utilized to observe the state extended by nonlinear dynamics, model uncertainty, and external disturbances. Overtime variation of the current-loop can be predicted by the improved ESO. The improved NLSEF is adopted to restrain the residual errors of the current-loop. The DCD is used to compensate the overtime variation of the current-loop in real time. The improved ADRC is designed based on a new nonlinear function . This function exhibits enhanced continuity and smoothness compared to previously available nonlinear functions. Thus, the new nonlinear function can effectively decrease the high-frequency flutter phenomenon. The improved ADRC exhibits improved control performance, and disturbances of the current-loop can be eliminated by the improved ADRC. Finally, simulation experiments are performed. Results show that the improved ADRC displayed better performance than the proportional integral (PI) control strategy and traditional ADRC.