Landing Control of Fixed-wing UAV Based on ADRC

Abstract

In this paper, in order to solve the problem that small fixed-wing unmanned aerial vehicle (UAV) is susceptible to wind disturbances when landing, the strategies of autonomous landing and design of controller are discussed. Firstly, the landing trajectory is designed for autonomous landing. Then, the order of UAV’s model is analyzed by mechanism and the transfer function model of longitudinal channel is identified based on its flight data. Thirdly, PID controller and active disturbance rejection controller (ADRC) are designed for the identified model and simulated by SIMULINK. The anti-interference ability of ADRC is compared with PID controller. Simulation results show that ADRC has stronger anti-interference ability than PID controller. Finally, the flight test is carried out with the ADRC. Flight data shows that the designed controller has a good effect on autonomous landing.