| Citation: | DENG B H，XU J F. Active disturbance rejection control of attitude of compound unmanned helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（11）：3100-3107 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0788
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A compound unmanned helicopter is a non-linear and strongly coupled controlled plant with multiple redundant control inputs, and with its response varying with input strategies. The unmodeled internal structure dynamics and unknown external disturbances of the compound unmanned helicopter cause great difficulties in flight control system design. The attitude control law design is crucial for the helicopter to fly stably within the entire flight envelope. Based on a mathematical model for motion characteristics, the control strategies for the helicopter are designed for different flight modes, and the Simulink simulation model of the controlled plant is developed. The active disturbance rejection control (ADRC) of attitude is designed, and the comparison between the attitude ADRC and proportional-integral-derivative (PID) controller is conducted. The control effect of the attitude ADRC is better than that of the attitude PID controller. The simulation demonstrates that the anti-interference and robust performance of the ADRC meet the attitude control requirements for the compound unmanned helicopter, and that the quick and stable flight of the helicopter can be guaranteed for different flight modes.
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