Active Disturbance Rejection Attitude Control for a Bird-Like Flapping Wing Micro Air Vehicle During Automatic Landing

Abstract

To solve the attitude control problem of bird-like flapping wing micro air vehicles (FWMAVs) during automatic landing, an active disturbance rejection control (ADRC) architecture is proposed in this paper. This control scheme takes into account the attitude control of flapping , transition and gliding modes in the process of automatic landing. To verify the control effect, the aerodynamic estimation method of the flapping wing based on quasi-steady theory and the dynamics of an FWMAV in Lagrangian form are applied in the simulation. The proposed control architecture consists of two independent ADRC controllers to stabilize the attitude of the pitch and roll channels. The system disturbance and the coupling effects between channels are estimated by an extended state observer (ESO) and compensated in real time in the control output. The convergence of the ESO and ADRC is proven. Simulation results show that even if the aircraft is in different flight modes, the ADRC controller can track the target trajectory quickly and accurately. Then, to realize automatic landing in a real environment, a simplified two-stage landing trajectory is designed. A landing test is carried out on this basis. The test results show that ADRC can not only stabilize the flight attitude in flapping mode but also obtain a satisfactory control accuracy and convergence speed when the aircraft is in the transition and gliding modes, confirming its usefulness in automatic landing. INDEX TERMS flapping wing micro air vehicle, active disturbance rejection control, attitude control automatic landing

Attitude Control of Ornithopter Wing by Using a MIMO Active Disturbance Rejection Strategy

“…By noticing that the ornithopter wing dynamics of Equation ( 63) is similar to Equation ( 9), with B = M −1 , then the proposed MP-ADRC scheme of the previous sections can be applied here directly. In fact, after choosing the design parameters p of Equation ( 26), β o (28), L ( 40)- (42) properly, one can directly implement Equation ( 29) for filters, (37) for the ESO and (43) for the control law τ. In this case, the tracking error is defined as…”

“…Sliding Mode Control (SMC) is another robust scheme reported in the literature [ 41 ]. Active disturbance rejection techniques are also reported in the works [ 31 , 42 , 43 , 44 ].…”

“…In [ 42 ], authors use two isolated ADRC schemes to stabilize the attitude of the pitch and roll angles. In the proposed control strategy, disturbances and the coupling effects between pitch and roll channels are estimated by an Extended State Observer (ESO) and then compensated in real time.…”

“…, then the control law of Equation (43) and Extended State Observer (ESO) with gains described in Equation (40), Equations ( 41) and (42) Remark 3. The mathematical developments that result in Theorem 1 were applied in a MIMO system composed of three second-order equations.…”

A Model Free Adaptive Scheme for Integrated Control of Civil Aircraft Trajectory and Attitude

“…In terms of aircraft attitude control, the commonly used methods include sliding mode control [16,17], model predictive control [18], active disturbance rejection control [19,20], dynamic inversion control [21] and so on. In these studies, accurate aircraft dynamics models are usually used, where the aerodynamic coefficients need to be obtained through wind tunnel experiments and flight tests [18].…”