Research on Roll Attitude Control of UAV Based on Active Disturbance Rejection Control

The roll attitude control of small high-speed unmanned aerial vehicle (UAV) is very difficult compared to the conventional low-speed UAV. The dynamic pressure is large and the moment of inertia is too small, which cause the aileron is sensitive to manipulation. The roll attitude may oscillate due to the actuator rate limiting. In response to this feature, the active disturbance rejection control (ADRC) is added to compensate the nonlinear part of the system, so that the system is close to an integral link. The problem of the actuator rate limiting can be solved by tuning the gain of the angular rate control to change the system bandwidth. On the other hand, the rolling motion is, in general, coupled from the yawing and sideslip motions. ADRC can decouple the roll channel and the yaw channel, solving the nonlinear problem of control. Combination with the requirements of frequency and time domain, design the roll attitude controller. The UAV nonlinear simulation results show that the roll attitude control based on ADRC meets the flight control requirements.