Design of Active Disturbance Rejection Attitude Controller for Tethered UAV with Parameter Tuning
Zhan Zhou, Li Xiao, Zhigang Chen, Haoxiang Su · 2023
In this paper, active disturbance rejection control (ADRC) is designed for the characteristics of tethered UAV cable interference. Combined with the characteristics of active disturbance rejection control parameters difficult to tune, a parameter tuning method based on particle swarm optimization (PSO) algorithm is proposed. The kinematics model and dynamics model of the tether UAV are established, and then the attitude controller was designed for cable interference. The particle swarm optimization algorithm was designed with the integral of time and absolute error (ITAE) performance index as the objective function and as the fitness value of particle swarm. The parameter values obtained after optimization processing are substituted into the attitude controller. After experiment and simulation, comparing it with PID control, it is proved that it has feasibility and good anti-interference, and can track the track of unmanned vehicle very well.