Nonlinear Active Disturbance Rejection Attitude Control of Two-DOF Unmanned Helicopter

被引：0
作者：
Wang Y.-Y. [1 ]
Zhao Z.-L. [1 ,2 ]
机构：
[1] School of Mathematics and Statistics, Shaanxi Normal University, Xi'an
[2] State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2021年 / 47卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Active disturbance rejection control; Attitude control; Extended state observer; Two-degree-of-freedom unmanned helicopter;
D O I：
10.16383/j.aas.c190521
中图分类号：
学科分类号：
摘要：
A major challenge of high-performance attitude control of unmanned aerial vehicle (UAV) is that the mathematical models of UAVs are always not accurately built and they are often disturbed by external disturbances. Taking up this challenge, in this paper we develope a nonlinear active disturbance rejection control (ADRC) method for attitude control of two-degree-of-freedom unmanned helicopters. The key idea of this method is online estimating the "total disturbance" which is composed by un-modeled system dynamics and external disturbance at first, and then compensate it in the feedback control. In this paper, we develop a nonlinear extended state observer and a nonlinear feedback controller to improve the control performance. The stability and convergence of the closed-loop control systems are proved strictly. The effectiveness of the theoretical results are verified by simulations. The numerical results show that, when the measured output is contaminated by random noise, the performance of the controller proposed in this paper is better than the linear ADRC and sliding model control. Copyright © 2021 Acta Automatica Sinica. All rights reserved.
引用
收藏
页码：1951 / 1962
页数：11
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