Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning

Shen, Suiyuan; Xu, Jinming

doi:10.1109/access.2021.3071457

Cited by 13 publications

(2 citation statements)

References 24 publications

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“…Huang et al applied the double-chains quantum genetic algorithm to optimize the parameters of ADRC [25]. A bacterial foraging optimization-flower pollination algorithm (BFO-FPA) was developed by Shen et al for tuning ADRC parameters [26]. All the above optimization algorithms have good application simulation results.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Based on Active Disturbance Rejection Control for Compound Unmanned Aircraft

Deng

2022

Aerospace

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The compound unmanned aircraft is provided with three primary flight modes, which are helicopter flight mode in low forward speed flight, airplane flight mode in high forward speed flight and transition flight mode in middle forward speed flight. For the different flight modes, an appropriate flight control law is the need to ensure good flying qualities. In this paper, a trajectory tracking control system based on the active disturbance rejection controller (ADRC) for the compound unmanned aircraft is proposed to adapt the full flight modes. A flight dynamics model and a Simulink simulation model of the compound unmanned aircraft are developed. The transition flight control strategy is analyzed and synthesized to meet the requirement of control strategy in the full flight modes. The internal uncertainties and external disturbance of the UAV are estimated with an extended state observer to compensate control input. A genetic algorithm-particle swarm optimization (GA-PSO) algorithm is utilized to optimize the controller parameters. The simulation of route tracking and spiral climb with different flight modes is conducted, which demonstrates the tracking ability, interference rejection, robustness and effectiveness of the developed controller in the full flight modes.

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Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Based on Active Disturbance Rejection Control for Compound Unmanned Aircraft

Deng

2022

Aerospace

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“…The simulation and flight tests showed that the ADRC could effectively estimate and overcome the influence of the total disturbance of a tilt-rotor UAV. However, the state error nonlinear control law (SENCL) in the ADRC controller had a weak dynamic performance and poor rapidity [28]. The backstepping control had better dynamics and rapidity, which could compensate for the defects of SENCL [29,30].…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Backstepping Attitude Control Based on an Extended State Observer for a Tilt-Rotor UAV

Shen

Xia

2022

Aerospace

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In order to overcome the influence of internal and external disturbances caused by rotor tilt motion and gust disturbance on the full flight mode control of a tilt-rotor unmanned aerial vehicle (UAV), a design method using fuzzy backstepping control based on an extended-state observer (FBS-ESO) is proposed. In this paper, fuzzy control is used to tune the parameters of the backstepping control law online, and the extended-state observer estimates the total disturbance of the controlled system to improve the controller’s robustness and anti-disturbance capability. This paper designs the attitude control system of a tilt-rotor UAV based on an FBS-ESO controller. The control performance of the FBS-ESO controller is tested in a hardware-in-loop simulation of the attitude control system. The simulation results show that changing the rotor tilt angle will destroy the stability of the traditional backstepping controller and active disturbance rejection controller (ADRC). In contrast, the FBS-ESO controller maintains good control performance. In addition, the performance of the FBS-ESO controller is not be significantly affected by adding external gust disturbance or changing the UAV parameters in the simulation. These disturbances significantly impact the traditional backstepping controller and ADRC. Therefore, the FBS-ESO controller has better anti-disturbance capabilities and robustness, as well as higher attitude control accuracy.

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Overview of Active Disturbance Rejection Control for Permanent Magnet Synchronous Motors

Zhang,

Chen,

Sun

2023

J. Electr. Eng. Technol.

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Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning

Cited by 13 publications

References 24 publications

Trajectory Tracking Based on Active Disturbance Rejection Control for Compound Unmanned Aircraft

Trajectory Tracking Based on Active Disturbance Rejection Control for Compound Unmanned Aircraft

A Fuzzy Backstepping Attitude Control Based on an Extended State Observer for a Tilt-Rotor UAV

Overview of Active Disturbance Rejection Control for Permanent Magnet Synchronous Motors

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