针对矢量推力双旋翼无人机姿态控制过程中存在强耦合、模型不精确的问题，提出了一种改进型的线性自抗扰姿态控制(linear active disturbance rejection controller，LADRC)方法。该方法利用改进线性扩张状态观测器(linear extended state observer，LESO)提高对总扰动的实时观测精度，根据姿态角的误差及其变化率引入模糊控制思想对线性状态误差反馈控制律进行在线参数整定，最后以矢量推力双旋翼飞行器为研究对象，对比PID和常规LADRC对外界扰动的抗扰效果，仿真试验验证了该方法能够较好估计补偿系统的总扰动，具有更好的抗扰性能和收敛速度。
Attitude Control of Dual-rotor Aircrafts Based on Improved LADRC Vector Thrust
To solve the problems of strong coupling and inaccurate model in the attitude control process of the dual-rotor aircrafts with vector thrust,an improved linear active disturbance rejection controller(LADRC)method is proposed.First,the improved linear extended state observer(LESO)is used to improve the real-time observation accuracy of the total disturbance.At the same time,the fuzzy control idea is introduced to tune the linear state error feedback control law based on the attitude angle errors and its change rates.Finally,the dual-rotor aircrafts with vector thrust is taken as the research object to compare the anti-interference effect of PID and conventional LADRC against external disturbances,the simulation test verifies that the proposed method can better estimate and compensation the total disturbance of system,and has better anti-interference performance and convergence speed.
dual-rotor aircrafts with vector thrustLADRCattitude controlanti-interference ca-pability
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