基于ADRC-RBF倾转四旋翼无人机姿态自适应控制

doi:10.7527/S1000-6893.2025.32189

Abstract

Abstract:

An enhanced Active Disturbance Rejection Control （ADRC） parameter adaptive control strategy based on Radial Basis Function （RBF） neural network is proposed for the control stability and accuracy of the autonomous flight of tilt-quadrotor UAVs under complex disturbances. Firstly， based on the component mechanism modelling method， a nonlinear flight dynamics model of the tilt-quadrotor UAV covering the whole flight mode is established. Secondly， the RBF neural network with strong nonlinear function approximation ability is used to solve the problem of online adaptive tuning of nonlinear active disturbance rejection controller parameters. The control input solved by the controller in real time and the state output of the tilt-quadrotor UAV are used as the input of the neural network. Based on the output of the neural network， the parameter adaptive adjustment rules are constructed， and the parameters of the Extended State Observer （ESO） part and the Nonlinear State Error Feedback control （NLSEF） part of the active disturbance rejection controller are dynamically adjusted online to realize the effective estimation and compensation of model uncertainty and external disturbance. Finally， the attitude adaptive control system of the tilt-quadrotor UAV is constructed based on the ADRC-RBF controller， and the attitude control simulation is carried out in the typical flight mode. The simulation results show that compared with the traditional ADRC controller， the ADRC-RBF controller designed in this paper has better anti-interference， adaptability， and stability.

Key words: tilt-quadrotor UAV, ADRC, RBF neural network, attitude control, adaptive parameter adjustment

CLC Number:

V249.12

Jiong HE, Binwu REN, Siliang DU, Yousong XU, Bo WANG. Adaptive attitude control for tilt-quadrotor UAV based on ADRC-RBF[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(S1): 732189.

Figures/Tables 20

Fig.1

Fig.2

Fig.3

Table 1

Parameter of weight matrix

参数	$β t$ /（°）	数值
$γ 1$	［0，90］	0.01
$γ 2$	［0，20］	0.02
	［20，70］	$0.02 - 0.000 4 (β t - 20)$
	［70，90］	0
$γ 3$	［0，50］	$0.1 - 0.002 β t$
$γ 3$	［50，90］	0
$γ 4$	［0，20］	0
	［20，70］	$0.005 (β t - 20)$
	［70，90］	0.25
$γ 5$	［0，20］	0.01
	［20，65］	$0.01 - 0.000 22 (β t - 20)$
	［65，90］	0
$γ 6$	［0，50］	$0.1 - 0.002 β t$
$γ 6$	［50，90］	0
$γ 7$	［0，30］	$0.001 67 β t$
$γ 7$	［30，90］	0.05
$γ 8$	［0，60］	0
$γ 8$	［60，90］	$0.003 3 (β t - 60)$
$γ 9$	［0，45］	$0.1 - 0.002 22 β t$
$γ 9$	［45，90］	0
$γ 10$	［0，10］	$0.025 β t$
$γ 10$	［10，90］	0.25

Table 1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Table 2

Main parameters of tilt-quadrotor UAV

参数	数值
质量/kg	550
旋翼转速/（rad·s^-1）	228
旋翼半径/m	0.89
桨叶片数	3
前机翼长度/m	1.09
后机翼长度/m	1.57
$I x$ /（kg·m²）	558
$I y$ /（kg·m²）	539
$I z$ /（kg·m²）	1 005

Table 2

Table 3

Parameters of ADRC-RBF controller in helicopter mode

参数	$φ A D R C - R B F$	$θ A D R C - R B F$	$ψ A D R C - R B F$
$β 1$	206	570	500
$β 2$	350	300	340
$β 3$	600	700	657
$K P$	51	141	103
$K D$	0.01	0.01	0.01
$ξ 1$	0.5	0.1	0.1
$ξ 2$	0.05	0.5	0.05
$ξ 3$	0.04	0.4	0.02
$ξ 4$	0.5	0.05	0.001
$ξ 5$	0.01	0.01	0.01

Table 3

Fig.9

Fig.10

Table 4

Parameters of ADRC-RBF controller in airplane mode

参数	$φ A D R C - R B F$	$θ A D R C - R B F$	$ψ A D R C - R B F$
$β 1$	97	214	714
$β 2$	150	200	240
$β 3$	650	750	700
$K P$	10	71	4
$K D$	0.01	0.01	0.01
$ξ 1$	0.5	0.1	0.1
$ξ 2$	0.05	0.5	0.05
$ξ 3$	0.04	0.4	0.02
$ξ 4$	0.5	0.05	0.001
$ξ 5$	0.01	0.01	0.01

Table 4

Fig.11

Fig.12

Fig.13

Table 5

Parameters of ADRC-RBF controller in full flight mode

参数	$φ A D R C - R B F$	$θ A D R C - R B F$	$ψ A D R C - R B F$
$β 1$	30	50	40
$β 2$	40	50	60
$β 3$	700	800	750
$K P$	206	71	3
$K D$	0.01	0.01	0.01
$ξ 1$	0.5	0.5	0.5
$ξ 2$	0.05	0.05	0.05
$ξ 3$	0.04	0.04	0.04
$ξ 4$	0.05	0.05	0.01
$ξ 5$	0.000 1	0.000 1	0.001

Table 5

Fig.14

Fig.15

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Adaptive attitude control for tilt-quadrotor UAV based on ADRC-RBF

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