Design of Yaw Controller for a Small Unmanned Helicopter Based on Improved ADRC

被引：2

作者：

Huang, Linjie ^{[1
]}

Pei, Hailong ^{[1
]}

机构：

[1] South China Univ Technol, Unmanned Aerial Vehicle Syst Engn & Technol, Res Ctr Guangdong, Key Lab Autonomous Syst & Networked Control,Minist, Guangzhou 510640, Peoples R China

来源：

GUIDANCE NAVIGATION AND CONTROL | 2021年 / 01卷 / 04期

关键词：

Yaw control; small unmanned helicopter; active disturbance rejection control; gradient descent;

D O I：

10.1142/S273748072140001X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Yaw control is significant to the attitude control of small unmanned helicopters (SUHs). Since the existing robust control method cannot be applied to the SUH with unknown dynamics and disturbances, this paper proposes an improved active disturbance rejection control (IADRC) to solve the problem. The IADRC obtains the optimal solution of the actuator gain (b0) by gradient descent. Besides, this paper summarizes some experiences during the tuning process of ADRC, which significantly reduces the difficulty of designing ADRC. Finally, the experimental results show that the proposed method is better than the traditional PID in robust and tracking control performance.

引用

页数：19