Altitude control for flexible wing unmanned aerial vehicle based on active disturbance rejection control and feedforward compensation

Abstract

Summary For achieving the accurate trajectory tracking of the flexible wing unmanned aerial vehicle in the complicated missions, especially the vertical component, a feedforward compensation unit–based active disturbance rejection control (ADRC) is proposed. In ADRC, the internal dynamics and complicated influence of the total disturbance will be estimated and dynamically compensated by extended state observer (ESO). It puts a very high request on the observation ability of ESO with the unpredictable external disturbance, complex internal coupling influence, and the strong nonlinear characteristic of the proposed system. For this reason, by deeply analyzing the model of this system, the varying attitude influence on the altitude control will be deduced. Then, this influence will be compensated previously by a feedforward compensation unit. Through the previous compensation of the calculable part of the internal dynamics and total disturbance, the burden of ESO can be reduced largely. In this way, it improves the control effect of the ADRC with better observation precision of ESO. After that, based on the hardware‐in‐the‐loop simulation, the effectiveness of the proposed method is verified completely with the complicated flight missions. The robustness of the control effect and observation ability of ESO are also verified by the Monte Carlo simulation. At last, the results of actual flight experiment prove the advancement and practicability of the proposed ADRC method.

An intelligent course keeping active disturbance rejection controller based on double deep Q‐network for towing system of unpowered cylindrical drilling platform

“…In terms of motion control of the towing system, Tao et al 16 used LADRC to achieve linear path tracking control, and the simulation results proved that the control performance of LADRC is better than PID. Besides, LADRC has also shown empirical results in other fields, such as hydraulic system, 17 unmanned aerial vehicle (UAV), 18 and power system. 19 Parameter adjustment has always been a non-negligible part of the controller design process.…”

Frequency‐shifting‐based algebraic approach to extended state observer design

“…The ADRC has been successfully used to control various uncertain dynamic systems involving the speed control of synchronous motor [6], control of pneumatic actuators [7], control of flexible wing unmanned aerial vehicle [8], control of the hovercraft vessel [9], and so forth. Also, it has been successfully implemented for the control of systems with the input time delay [10].…”

Load Frequency Active Disturbance Rejection Control for Multi-Source Power System Based on Soft Actor-Critic

“…LADRC dramatically simplifies the design of the ADRC controller and significantly reduces the number of parameters that need to be adjusted, which greatly promotes the engineering application of ADRC. Currently, LADRC has been successfully applied in many fields, such as ship path following control [14], aircraft control [15], and hydraulic systems [16], to name a few. As for LFC, LADRC has also shown good control effects.…”