Active Disturbance Rejection Flight Control and Simulation of Unmanned Quad Tilt Rotor eVTOL Based on Adaptive Neural Network

Abstract

The unmanned quad tilt-rotor eVTOL (QTRV) is a variable-configuration aircraft that combines the features of vertical takeoff and landing (VTOL), hovering, and high-speed cruising, making its control system design particularly challenging. The flight dynamics of the QTRV differ significantly between the VTOL and cruise modes, and are further influenced by rotor tilt and external wind disturbances. Developing a unified, highly coupled nonlinear full-flight dynamics model facilitates flight control system design and simulation verification. To ensure stable tilt of the QTRV, a tilt corridor was established, along with the design of its tilt route and manipulation strategy. An adaptive neural network active disturbance rejection controller (ANN-ADRC) is proposed to ensure stable flight across all modes, reducing the control parameters and simplifying tuning while effectively estimating and compensating for unknown disturbances in real time. A hardware-in-the-loop (HIL) simulation system was designed for full-mode flight control simulation, and the results demonstrated the effectiveness of the proposed control method.