基于改进LADRC的矢量推力双旋翼飞行器姿态控制OA北大核心CSTPCD

To solve the problems of strong coupling and inaccurate model in the attitude control process of the dual-rotor aircrafts with vector thrust,an improved linear active disturbance rejection controller(LADRC)method is proposed.First,the improved linear extended state observer(LESO)is used to improve the real-time observation accuracy of the total disturbance.At the same time,the fuzzy control idea is introduced to tune the linear state error feedback control law based on the attitude angle errors and its change rates.Finally,the dual-rotor aircrafts with vector thrust is taken as the research object to compare the anti-interference effect of PID and conventional LADRC against external disturbances,the simulation test verifies that the proposed method can better estimate and compensation the total disturbance of system,and has better anti-interference performance and convergence speed.