航空学报2025，Vol.46Issue(z1)：100-116,17.DOI:10.7527/S1000-6893.2025.32189
基于ADRC-RBF倾转四旋翼无人机姿态自适应控制
Adaptive attitude control for tilt-quadrotor UAV based on ADRC-RBF
摘要
Abstract
An enhanced Active Disturbance Rejection Control(ADRC)parameter adaptive control strategy based on Radial Basis Function(RBF)neural network is proposed for the control stability and accuracy of the autonomous flight of tilt-quadrotor UAVs under complex disturbances.Firstly,based on the component mechanism modelling method,a nonlinear flight dynamics model of the tilt-quadrotor UAV covering the whole flight mode is established.Secondly,the RBF neural network with strong nonlinear function approximation ability is used to solve the problem of online adaptive tuning of nonlinear active disturbance rejection controller parameters.The control input solved by the controller in real time and the state output of the tilt-quadrotor UAV are used as the input of the neural network.Based on the output of the neural network,the parameter adaptive adjustment rules are constructed,and the parameters of the Extended State Observer(ESO)part and the Nonlinear State Error Feedback control(NLSEF)part of the active disturbance re-jection controller are dynamically adjusted online to realize the effective estimation and compensation of model uncer-tainty and external disturbance.Finally,the attitude adaptive control system of the tilt-quadrotor UAV is constructed based on the ADRC-RBF controller,and the attitude control simulation is carried out in the typical flight mode.The simulation results show that compared with the traditional ADRC controller,the ADRC-RBF controller designed in this paper has better anti-interference,adaptability,and stability.关键词
倾转四旋翼无人机/ADRC/RBF神经网络/姿态控制/参数自适应Key words
tilt-quadrotor UAV/ADRC/RBF neural network/attitude control/adaptive parameter adjustment分类
航空航天引用本文复制引用
HE Jiong,REN Binwu,DU Siliang,XU Yousong,WANG Bo..基于ADRC-RBF倾转四旋翼无人机姿态自适应控制[J].航空学报,2025,46(z1):100-116,17.基金项目
国家自然科学基金(12032012) National Natural Science Foundation of China(12032012) （12032012）
