This paper addresses the various modeling errors and external disturbances in the process of aerial refueling and the difficulty of manual parameter setting of Active Disturbance Rejection Controller (ADRC) controllers. A Variable Weighted Mutant Pigeon Inspired Optimization (VWMPIO) algorithm for ADRC designed for Unmanned Aerial Vehicle (UAV) is proposed. First of all, this paper establishes a six degree-of-freedom UAV model and then designs an attitude controller based on the ADRC structure. On this basis, parameters of the controller are tuned with the VWMPIO algorithm proposed in this paper, and a comparison amongst the VWMPIO algorithm, the basic PIO algorithm, and the PSO optimization algorithms. In addition, the ADRC controller is compared with the traditional Proportional-Integral-Differential (PID) controller in terms of control performance and anti-noise performance. The experimental result shows that the proposed method can improve the control accuracy and disturbance rejection performance of UAV aerial refueling in complex situations.
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