Manipulation strategy of tilt quad rotor based on active disturbance rejection control

Abstract

To solve the problem of manipulation redundancy and coupling in transition mode of tilt quad rotor, this paper studied the manipulation strategy in transition mode, and carried out the design of the attitude controller based on active disturbance rejection control (ADRC) with sliding mode control in nonlinear state error feedback (NLSEF). According to the characteristics of flight in transition mode, the rudders and propellers were assigned different control rights. The differential output of the tracking differentiator was used as the attitude angular rate instruction to simplify the structure of the attitude controller. Extended state observer was used to estimate and compensate internal and external uncertainties. The sliding mode control in NLSEF was used to improve response speed of the controller. Through the flight control simulation and flight test of the tilt quad rotor, the validity of the control system and the rationality of the manipulation strategy were verified.