UAV control law design method based on active-disturbance rejection control

To provided a fast solution to multi-UAV and multi-task flight control law design, this paper presents a control law structure based on the active-disturbance rejection control method, and designs a reusable extended state observer and tracking differentiator. Meanwhile, the application of this method to three different UAV platforms is introduced. Then, the agility evaluation tests, the maneuver flight tests and the multi-UAV formation flight tests were carried out respectively. As a result, the 7000 kg supersonic UAV_A obtained better agility than the target plane; the 60 kg UAV_B successfully completed the 5.8g half-roll reverse maneuver flight test; the 10 kg UAV_C realized the precise trajectory control with 15 meters spacing interval of 12 UAVs formation flight test. The results show that the ADRC control structure has the advantages of fast response, high control accuracy and strong robustness. It can effectively adapt to multi-type UAVs and multiple mission scenarios, and achieve better control effects without the need for gain schedule, thus, providing a new technical approach for flight control design.