The Lateral Channel Active Disturbance Rejection Controller Design of Small Air-to-Ground Missile for Helicopter

Abstract

This chapter deals with the active disturbance rejection control (ADRC) method to the lateral control of small air-to-ground missiles for helicopters. The main difficulties that arise in lateral control design of small missiles are related to the highly uncertain, nonlinear aerodynamic forces and force movements, thus it is difficult to obtain an accurate dynamic model. Besides, the huge variations of dynamic pressure make controller parameters, and are difficult to adapt to the whole flight envelope. To handle them, the design of the controller is based on ADRC, a nonlinear control design approach which is based on the extended state observer (ESO), and can estimate and compensate the uncertainty of the system, including structural errors, random, and other system errors. Six-degree freedom equations are established for the lateral channel, the equations are linearization with small disturbance theory, then the aerodynamic derivatives are obtained through wind tunnel test, the dynamic model is made and the aerodynamic features are analyzed. One-order ESO equations of lateral channel are deduced, the controller of the lateral channel which is based on the ESO is designed and parameters are adjusted, and finally, semi-physical simulations are made. Through the comparison with classical proportion integral differential (PID) controller, the controller based on ADRC has strong robustness and it could track control command rapidly and accurately.