Design of Active Disturbance Rejection Controller for Tethered Unmanned Aerial Vehicle Based on Parameter Tuning
An active disturbance rejection controller with parameter adaptive tuning based on particle swarm optimization algorithm(PSO)was designed to solve the problem of cable interference in tether unmanned aerial vehicles(UAVs)in air-ground heterogeneous robot.The kinematics and dynamics models of the tethered UAV were established,and the active disturbance rejection attitude controller was designed for cable interference.The time absolute error integral performance index was used as the optimization objective and fitness function of PSO,and the parameter values optimized by PSO optimization were applied to attitude controller.The controller proposed in this article was compared with traditional PID attitude controller,PID attitude controller based on nonlinear disturbance observer and auto-disturbance rejection controller with manual tuning.The results show that the anti-interference ability of the active disturbance rejection controller with parameter tuning using PSO is relatively smaller in overshoot than other controllers,and it has less jitter when receiving cable interference.The tethered UAV can smoothly track the trajectory of the unmanned vehicle under this controller.
万方数据
维普
