A Novel Active Disturbance Rejection Control for the Quad Tilt Rotor in Conversion Process

Abstract

The quad tilt rotor (QTR) has complex dynamics characteristics, especially in conversion mode. It is difficult to model the QTR dynamics and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of QTR, this paper carries out the design of the controller based on improved active disturbance rejection control (ADRC). According to the characteristics of flight in conversion mode, tracking differentiator (TD) is used to solve the problem of multiple integral when the system is high-order system. Extended state observer (ESO) with radial basis function (RBF) neural network is used to estimate and compensate for internal and external uncertainties, and the adaptive sliding model control in nonlinear state error feedback (NLSEF) is used to improve response speed of the controller and reduce the parameters which should be tuned. Through the flight control simulation of the QTR, the validity and rationality of the control system are verified.