基于ADRC迭代学习控制的四旋翼无人机姿态控制

doi:10.7527/S1000-6893.2020.24112

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (12): 324112-324112.doi: 10.7527/S1000-6893.2020.24112

• Electronics and Electrical Engineering and Control • Previous Articles Next Articles

Active disturbance rejection control of UAV attitude based on iterative learning control

WANG Shubo¹, HAN Yu^2,3, CHEN Jian¹, ZHANG Zichao¹, LIU Xuzan¹

1. College of Engineering, China Agricultural University, Beijing 100083, China;
2. College of Water Resources&Civil Engineering, China Agricultural University, Beijing 100083, China;
3. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China

Received:2020-04-20 Revised:2020-05-07 Published:2020-07-10
Supported by:
National Key R&D Program of China (2017YFD0701003); National Natural Science Foundation of China (51979275); Key R & D Program of Jilin Province (20180201036SF); Open Project of State Key Laboratory of Industrial Control Technology (ICT20021); Project supported by State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (19R06)

Abstract

Abstract: An adaptive Active Disturbance Rejection Control (ADRC) attitude controller is proposed to solve the problem that the ultralow altitude phenotype remote sensing and precise hovering during spraying of agricultural UAVs are easily disturbed by ground effects. First, an attitude controller based on ADRC is designed, and an interference prediction and control amount compensation experiment is performed under lateral horizontal wind of 0.9-1.1, 1.1-1.3, 1.4-1.6, 2.0-2.4, 2.5-2.9, 3.3-3.6 m/s, and forward pitch and side pitch wind of 0.9-1.1m/s (11 °), 1.1-1.3 m/s (13 °), 1.4-1.6 m/s (18 °), 1.8-2.0 m/s (18 °), 2.1-2.5 m/s (18 °). The experimental results show that the wind resistance of the UAV has been significantly improved by the ADRC attitude controller. However, the ADRC fixed bandwidth cannot meet the requirements when an initial error exists. Therefore, an adaptive ADRC attitude controller (ILC-ADRC) is further designed to optimize the bandwidth of the ADRC controller online to achieve adaptive tuning of different gain observers. Experiments are conducted to deviate the actual direction of the head from the desired direction by 55 °, 90 °, 180 °, with the horizontal wind speeds of 1.1-1.3, 1.4-1.6, 2.0-2.4, 2.5-2.9 m/s. The results show that with the ILC-ADRC attitude controller, the yaw angle error is within -15 ° -15 ° within 150 control cycles, satisfying the control accuracy of the yaw angle of the four-rotor UAV, and the stability time is shortened by 40%, 16.67%, 12.5%, 53.33%, 10.34%, 13.95%, 27.27%, 58.66%, 11.86%, respectively.

Key words: quadrotor UAVs, ground effect disturbances, precise hovering, adaptive ADRC, iterative learning control, wind resistance experiments

CLC Number:

V328.1

WANG Shubo, HAN Yu, CHEN Jian, ZHANG Zichao, LIU Xuzan. Active disturbance rejection control of UAV attitude based on iterative learning control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(12): 324112-324112.

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Active disturbance rejection control of UAV attitude based on iterative learning control

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