Design of Attitude Control Law for Coaxial Helicopter Based on Active Disturbance Rejection Control
A coaxial twin rotor unmanned helicopter is taken as the research object to study the anti disturbance problem during the homing approach and landing phases of unmanned aerial vehicles.In order to improve the anti disturbance per-formance of coaxial helicopters against external disturbances,an active disturbance rejection controller(ADRC)is select-ed to design the attitude control law for coaxial helicopters in the marine landing environment.An improved particle swarm optimization algorithm is designed to optimize the parameters of the active disturbance rejection control law.The simulation results show that the improved particle swarm optimization algorithm can significantly improve the parameter tuning speed and accuracy;the auto disturbance rejection control law with optimized parameters has good dynamic re-sponse and robustness in the strong interference environment.
coaxial helicopterautomatic disturbance rejection controlimproved particle swarm optimization algorithmattitude control law design
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