Active Disturbance Rejection Control for Unmanned Helicopter with Adaptive Tuning

Abstract

In this paper, a practical method named linear active disturbance rejection control (LADRC) with adaptive tuning is proposed for attitude control of small-scale unmanned helicopter. The proposed method accounts for both external disturbances and internal dynamic uncertainties, as well as parameter deviations arising from parameter uncertainty, while maintaining a relatively small number of adjustable parameters. Furthermore, it addresses the limitation that conventional active disturbance rejection control methods cannot be rigorously analyzed for stability. The total disturbance of unmanned helicopter is estimated and compensated by designed LADRC. The introduction of adaptive control realizes online parameter tuning, which eliminates parameter deviation and further improves control precision. Moreover, it also provides a novel idea to prove the stability of controller, so that it can be analyzed by Lyapunov function. Finally, the anti-disturbance performance and effectiveness of proposed method are verified by numerical simulation.

Keywords

unmanned helicopter / adaptive control / linear active disturbance rejection control (LADRC) / parameters online tuning