| Citation: | MENG Z P，YANG L Q，WANG B，et al. ADRC design for folding wing vehicles based on improved equilibrium optimization algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2449-2460 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0698
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In view of the modeling errors and poor anti-disturbance ability of folding wing vehicles (FWV) and the difficulty in manual parameter setting of active disturbance rejection controllers (ADRC), an optimization algorithm based on improved equilibrium optimizer based on Lévy（LEO）was proposed. A dynamics model of typical FWV was established, and an attitude controller for the FWV was designed based on the ADRC structure. The parameters of the ADRC were adjusted by the proposed algorithm, and a comparison between the optimized ADRC and the traditional ADRC by the simulation was made from the perspective of control performance and anti-disturbance. The proposed algorithm was compared with the classical equilibrium optimizer, particle swarm optimization (PSO) algorithm, and so on. The simulation results show that the controller optimized by the proposed algorithm can improve the control accuracy and disturbance suppression performance of FWV, and the superiority of the algorithm in the parameter optimization of ADRC was verified. The prototype equipped with the improved ADRC was verified in real flight. The results show that the FWV prototype still has a good flight performance index under wind disturbance, which further verifies that ADRC optimized by the proposed algorithm improves the anti-disturbance of FWV.
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