Design of UAVs formation controller based on ADRC control technology
LI Yi-b · Flight Dynamics · 2015
For UAV formation flight control system,taking the leader-follower structure and building a rotating frame using follower velocity as x axis and fixed on the follower. Based on the use UAV autopilot model and the formation flight space geometry relationship,a mathematical model of formation flying is built and a active disturbance rejection controller( ADRC) applicable to UAV's heading and speed of the channels is designed. Simulation results show that the controller can control formation flight effectively and accurately by controlling the distance between the UAV,achieve the goal of formation keeping and transforming during maneuvering. The structure of the control system has a good expandability. This control method is of low overshoot and strong robustness,which is better than the traditional PID control method.