An Altitude Control Method for Quadrotor UAV with Improved Active Disturbance Rejection

Abstract

The invention discloses a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. The linear dynamic model is decomposed into linear items and uncertain items; Step 3, use the tracking differentiator to obtain the expected value of position and velocity in the height direction; Step 4, use the first-order extended state observer to estimate the disturbance items in the system; Step 5, design based on PD algorithm and error feedback control law of feedforward control, and use the value of the disturbance item estimated by the extended state observer to compensate the system uncertainty item. The present invention constructs a flight mode of acceleration-uniform speed-deceleration by utilizing the improved tracking differentiator to plan the height flight strategy so that the quadrotor UAV can rise (or descend) from one height to another height in the shortest time; and The maximum acceleration during flight and the speed of the constant speed section can be set independently.

Description

technical field [0001] The invention belongs to the field of automatic control of unmanned aerial vehicles, and in particular relates to a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. Background technique [0002] The stability control of UAV is one of the core and key points of UAV system research. Its research not only has great practical significance, but also has far-reaching theoretical significance. [0003] At present, quadrotor drones are quite common in the market, but it is still difficult to design a flight control system with strong anti-interference ability. Especially when considering the situation of UAVs carrying payloads, it is a challenging problem to achieve stable control in the altitude direction. [0004] In the past few decades, various control algorithms have been studied and used in the stability control of UAVs. Commonly used controllers include PID controllers, backstepping controllers, ...

AI Technical Summary

Problems solved by technology

In recent years, this control method has been applied in the flight control of unmanned aerial vehicles, but there are few ADRC parameter tuning methods at present, and the nonlinear structure is still relatively complex, so it is difficult to apply in practice; in addition, the current application Most of the cases are in UAV attitude control, but there are still no successful applications in height control or horizontal direction

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