Attitude control of quadrotor UAV based on improved active disturbance rejection control
To overcome the issues associated with model uncertainty and external disturbances during the attitude control of a quadcopter UAV, this paper designs a quadcopter attitude controller based on self-disturbance rejection control.It integrates fuzzy control technology with traditional self-disturbance rejection control, incorporating a fuzzy control unit that combines fuzzification, fuzzy inference, and defuzzification.Furthermore, an improved beetle antennae search algorithm is employed for parameter tuning of the self-disturbance rejection controller, enhancing parameter tuning efficiency.To address the issues related to the non-smoothness of the fal function at its turning point, which leads to system oscillations and the problem of high gain in cases of significant errors, an improved yfal function is introduced to replace the fal function within the extended state observer.The convergence of this improved observer is also verified.Our simulation results demonstrate the enhanced self-disturbance rejection controller exhibits fairly faster response and improved disturbance-resistance capabilities.
fuzzy active disturbance rejectionattitude controlparameter optimizationstability analysisquadcopter
国家科技期刊平台
NSTL
万方数据
