Research On Adaptive Fuzzy Auto-disturbance Rejection Control Of Variable Load UAV

The development of global emerging information technology industry has a profound impact on the transformation of UAV technology,which promotes the wide application of UAV in various fields.In the process of practical application,the UAV often needs to carry unknown load to complete various flight tasks.Because the mass and center of gravity of the body often change,it is easy to affect the stability of the flight state of the UAV.Therefore,the design of a flight control system with strong anti load disturbance ability is helpful to improve the flight safety of the UAV.In order to solve the problem that the change of load weight,centroid and moment of inertia can easily lead to the instability of flight attitude of quadrotor UAV in the flight process,an adaptive fuzzy active disturbance rejection control method is proposed based on active disturbance rejection controller.In this paper,the principle of the algorithm is introduced in detail,and the model is built in Matlab / Simulink environment for simulation experiment.Finally,the hardware experiment platform of quadrotor UAV is built and the flight verification experiment is carried out.The results of simulation and flight experiments show that the algorithm has stronger anti disturbance ability and better adaptability to load changes than traditional algorithms.The main work of this paper is as follows:(1)The research background and significance of the subject are introduced in detail,as well as the research status of UAV control field.(2)According to the principle of dynamic flight and Newton Euler equation,the mathematical model of quadrotor UAV with load is established.(3)Aiming at the flight attitude control of quadrotor UAV with variable load,an adaptive fuzzy ADRC method is proposed based on the traditional ADRC algorithm.In order to solve the problem that the parameters of traditional ADRC are lack of on-line self-tuning,fuzzy reasoning is used to adjust the parameters of nonlinear state error feedback control law on-line.Adaptive observer is designed to estimate the mass and centroid offset of load system on-line,and the ADRC compensation coefficient is modified according to the estimated value,so as to improve the control accuracy and disturbance rejection of the system Mobility.In this paper,the calculation process of the algorithm is described in detail,and the simulation and physical experiment are carried out..