Trajectory Tracking And Parameter Optimization For Quadrotor UAV Based On Active Disturbance Rejection Control

The quadrotor UAV has been widely used in military and civil fields in recent years because of its simple structure,compact size,vertical takeoff and landing,and easy operation.However,due to the nonlinear,underactuated,and strong coupling of the quadrotor UAV control system,it is very vulnerable to environmental interference in the actual flight process.In order to ensure the reliability and stability of the control system,it is of great significance to carry out research on the control system design of the quadrotor UAV.In this paper,the position and attitude control system of the quadrotor UAV is designed based on Active Disturbance Rejection Control(ADRC),and the tuning of controller parameters is studied.The main contents of this article are as follows:1.This paper introduces the flight principle of the quadrotor UAV,explains the airframe coordinate system and inertial coordinate system required for UAV flight control,and establishes a nonlinear dynamic model of the quadrotor UAV according to Newton Euler equation.2.This paper aims at the nonlinear and strong coupling characteristics of the quadrotor UAV,a cascade linear ADRC method is proposed to control the attitude system of the quadrotor UAV.By designing the linear extended state observer,the internal uncertainties and external disturbances of the system are observed and compensated in real time,and the stability of the designed control algorithm is proved.The position system adopts the linear ADRC algorithm.The designed control system is built on the Quanser flight experimental platform,which verifies the effectiveness of the control scheme.3.Given the nonlinear and strong coupling characteristics of the quadrotor UAV,the nonlinear ADRC is used to design the control system of the quadrotor UAV.The decoupling control of the quadrotor UAV is realized by designing the nonlinear ADRC for six channels respectively,and the extended state observer is used to deal with the nonlinear part of the dynamic model and the external disturbance in real-time.The stability,anti-interference,and load capacity of the control method are verified by designing flight experiments under different conditions in the Quanser flight experiment platform.4.To solve the problem of many parameters and cumbersome adjustment in nonlinear ADRC,an improved whale optimization algorithm(t-WOA)is proposed to optimize the parameters of ADRC for the quadrotor UAV.The algorithm uses elite chaotic reverse mapping,nonlinear convergence factor,and adaptive t-distribution mutation operator to enhance the global search ability of the Whale Optimization Algorithm(WOA),and improve the problem that WOA is prone to fall into local optimization at the end of the iteration.Through simulation,the stability and anti-interference of the ADRC control system are compared after the main parameters of ADRC by manually modulated,WOA optimized,and t-WOA optimized.