Research On UVA Attitude Control Based On Fractional Active Disturbance Rejection Control

With low cost,high degree of freedom,flexibility,ability to take off and landing vertically,the quad-rotor UAV which is highly valued by scholars,has broad application prospects in military and civilian fields.While due to the features such as under-actuation,strong coupling,non-linearity,and poor anti-interference capability of the quad-rotor UAV,it is difficult to establish accurate mathematical modeling and stable flight control which means modular methods and control algorithms have become the difficulties and focuses of research.Combining the current research status and working on the basis of previous achievements,this article carries out the following research :Firstly,the flight principle of the quadrotor UAV is expounded from the two components of the quad-rotor UAV and the flight control mode.The ground coordinate system is used as the reference coordinate system and the coordinate system of the aircraft body is derived from the ground coordinate system.The coordinate transformation matrix,establishes the dynamic model of the drone.The quasi-LPV method is then used to convert the UAV’s nonlinear model into a linear model.Secondly,the control strategy of the fractional-order PD controller combined with the linear extended state observer in the auto-disturbance disturbance is proposed.The linear control law in the linear auto-disturbance rejection controller is replaced by the fractional PD control law,and a new type of controller is constructed.Fractional-order PD auto-disturbance controller.Finally,the fractional auto-disturbance rejection controller is used to control and simulate the four flying attitudes(height,roll,roll,and yaw)of the UAV.Through comparison experiments of dynamic response and anti-jamming capability,it is verified that the fractional auto-disturbance rejection controller has faster adjustment speed,wider range of parameters,and flexible design compared to traditional PID controllers,fractional-order controllers,and auto-disturbance-rejection controllers.Degree and self-disturbance controller real-time feedback compensation,good stability,strong ability to suppress interference,greatly improved the performance of the UAV attitude control system,and also verified the effectiveness and superiority of the control strategy.