Attitude Active Disturbance Rejection Control of Six-Rotor Aircraft

Abstract:
Compared with the four-rotor aircraft, the six-rotor aircraft has a redundant power system, improving its stability and load capacity, and can carry more devices and complete more difficult tasks. To improve the control performance of the sixrotor aircraft, a six-rotor attitude control scheme based on an active disturbance rejection controller (ADRC) was designed by analyzing the aerodynamics and rigid body kinematics of the aircraft. First, the input signal is smoothed and differentiated by the second-order differentiator, then the disturbance is observed by the extended state observer. Finally, the nonlinear control law is used to compensate, which can improve the anti-interference ability and stability of the system. The simulation model was built in Matlab/Simulink environment, and the attitude control simulation and anti-interference performance test of the control system were carried out. The simulation results show that the ADRC can adjust the attitude and height quickly, and stably, and has a certain anti-interference ability.