Tracking performance of the coaxial counter-paddle flight system using fractional active disturbance rejection controller

Abstract

Stable aerial flight capability is crucial for amphibious vehicles to perform cross-domain motion, yet it is often influenced by unpredictable cross-domain environments and model uncertainties. A fractional-order active disturbance rejection controller based on finite-time convergent extended state observer is proposed for the anti-interference control problem in the attitude trajectory tracking of bullet-shaped trans-domain amphibious vehicle in complex environments. Firstly, a complete dynamic model of the airborne flight system of the bullet-shaped trans-domain amphibious vehicle is established. A hierarchical control scheme based on the proposed controller is designed assuming that all states of the system are available, in order to improve the control reliability and robustness of the flight system in multi-source interference environments. Then, based on a novel hybrid particle swarm search technique called the Particle Swarm Optimization with Lévy Flight and Wavelet Mutation algorithm, which combines Lévy flight and wavelet mutation, a new parameter identification and tuning algorithm is proposed for the proposed controller to obtain optimal control parameters for attitude and position. To provide a comprehensive comparison, the stability of the optimization algorithm and the robustness performance of the controller were evaluated. Finally, all controllers were tested under three different disturbance scenarios. The results show that the proposed controller can achieve better stability in flight attitude and trajectory tracking tasks compared to Proportion Integration Differentiation controller, Fractional-order Proportion Integration Differentiation controller, and Active Disturbance Rejection controller in all scenarios.