Design of Cascaded Linear ADRC System of Six-rotor UAV Based on Antagonistic Network
With obvious steering behaviors in the trajectory of UAV,if the effective coupling between attitude angle and response curve is not solved,it makes the anti-disturbance ability of UAV decrease,thus reducing the flying quality of UAV.In order to solve above problems,a UAV-cascaded linear active disturbance rejection control(ADRC)system based on the machine countermeasure network is designed.The cascaded linear tracking differentiator,ADRC attitude controller and traveling position controller are re-quired to complete the design of UAV-cascaded linear ADRC hardware system.The machine learning model countermeasure network is established to solve the UAV-cascaded linear dynamic motion formula and achieve its dynamic performance analysis by combining relevant motion data.The cascaded linear pose coordinates are defined,and the specific ADRC control conditions are calculated by de-ducing the ADRC motion node matrix,so as to realize the ADRC control of the UAV-cascaded linear pose,and complete the system design by combining the relevant components.Experimental results show that under the application of the designed control system,the coupling errors between the pitch angle,roll angle and the standard response curve does not exceed 10％,with a noticeable steer-ing within the trajectory.Therefore,the system can ensure the effective coupling between attitude angle and response curve,effec-tively ensuring the anti-interference ability of UAV.
machine learningUAVcascaded linear active disturbance rejectiontracking differentiatorattitude controllerdy-namic performance
万方数据
维普
