空天防御2026，Vol.9Issue(2)：18-32,15.
基于ADRC的小型攻击无人机位姿控制模型与稳定性分析
Model and Stability Analysis of Position-Attitude Control for Small Attack UAVs Based on ADRC
摘要
Abstract
Based on the Newton-Euler theorem,this paper constructs a control model for small attack Unmanned Aerial Vehicles(UAV),integrating the Dryden turbulence wind field and recoil force models.Position and attitude controllers are designed using Active Disturbance Rejection Control(ADRC)theory.Comparative experiments with traditional PID control demonstrate that the ADRC controller possesses stronger anti-disturbance capability and faster dynamic response under wind disturbances and step disturbances.Stability factor analysis indicates that:with increased firing angle,the maximu·m yaw and pitch angles gradually decrease,while the maximum roll angle exhibits a nonlinear variation of initial increase followed by decrease;with increased firing frequency,the pitch angle disturbance presents a superposition effect,aggravating attitude deviation.The research results provide a new approach for high-precision stability control of small attack UAV in complex battlefield environments,and have important application value in military reconnaissance,precision strike and other fields.关键词
小型攻击无人机/位姿控制模型/自抗扰控制/射击稳定性Key words
small attack Unmanned Aerial Vehicle(UAV)/position-attitude control model/active disturbance rejection control(ADRC)/firing stability分类
航空航天引用本文复制引用
吴险峰,章杭炜,王亚平,刘星,闻勍鹏..基于ADRC的小型攻击无人机位姿控制模型与稳定性分析[J].空天防御,2026,9(2):18-32,15.基金项目
国家自然科学基金青年基金项目(62303327) （62303327）
广东省普通高校青年创新人才项目(2021KQNCX212) （2021KQNCX212）
深圳市高等院校稳定支持计划项目(20220818120240002) （20220818120240002）
深圳信息职业技术大学校级科技项目-博硕士启动类项目(科技类博士)(SZIIT2024KJ018) （科技类博士）
