Parameter tuning of active disturbance rejection control in quad tilt rotor based on particle swarm optimization

Abstract

The quad tilt rotor (QTR) has complex dynamics characteristics, especially in transition 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 transition mode of QTR, this paper carries out the design of the controller based on active disturbance rejection control (ADRC). ADRC has many parameters to be tuned, and the coupling effect is more serious, so it is very difficult to tune parameters. Particle swarm optimization (PSO) algorithm has faster computing speed and better global search ability in dynamic and multi-objective optimization. So, using PSO algorithm to realize self-tuning of ADRC parameters in ADRC parameters tuning. By comparing the control performance of ADRC before and after optimization, the rationality and effectiveness of ADRC parameters tuning algorithm in QTR are verified in both time domain and frequency domain.