Attitude Control of Flying Wing UAV Based on Advanced ADRC

Abstract

The main points of the problem are that the flying wing UAV has strong coupling, obvious nonlinear characteristics and significant changes in steering efficiency during the flight, a combination of ADRC (active disturbance rejection control) and PID (proportional-integral-derivative) was proposed. The adaptive control method is designed with the angle and angular velocity as the controlled variables. The UAV flight attitude control system was designed, where the ADRC control law is used as the outer ring to control the angle, and the inner ring uses the PID to control the angular velocity. In order to solve the problem of high frequency jitter in traditional ADRC, a new nonlinear function is used to optimize the design. Simulink simulation shows that the attitude control overshoot is less than 1% and the adjustment time is less than 2s, which satisfies the control of the flying wing UAV. The flight test was finally carried out to verify the feasibility of the algorithm at the request.