Attitude control for tandem plant protection UAV based on fuzzy parameter optimization of active disturbance rejection control
（1. College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; 2. Key Laboratory of Agricultural Informationization Standardization, Ministry of Agriculture, Beijing 100083, China; 3. College of Science, China Agricultural University, Beijing 100193, China)
Abstract： In view of the high requirements of attitude control in flight control system and the various unknown disturbances and parameter uncertainties in flight, a fuzzy parameter optimization of active disturbance rejection control strategy was proposed to achieve the high performance of attitude control for tandem UAV. The transition process was arranged to reduce overshoot and improve response speed， and the extended state observer was designed to deal with unknown disturbances and parameter uncertainties. To improve the dynamic performance of control system, the fuzzy control was used to realize the online adjustment of the gain of nonlinear feedback control law. The simulation results show that compared with the conventional PID and fuzzy PID control, the fuzzy parameter optimization of active disturbance rejection control strategy can suppress the disturbance quickly and effectively with high control accuracy and strong robustness.
何志辉， 高万林， 何雄奎， 王敏娟， 宋越. 基于自抗扰模糊参数优化的纵列式植保无人机姿态控制仿真[J]. 江苏大学学报（自然科学版）, 2021, 42(2): 198-206.
HE Zhihui, GAO Wanlin, HE Xiongkui, WANG Minjuan, SONG Yue. Attitude control for tandem plant protection UAV based on fuzzy parameter optimization of active disturbance rejection control[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2021, 42(2): 198-206.
