An Intelligence Attitude Controller Based on Active Disturbance Rejection Control Technology for an Unmanned Helicopter
Suiyuan Shen, Jinfa Xu, Pei Chen, Qingyuan Xia
Abstract
To solve the problems of complex parameter tuning of traditional active disturbance rejection controller (ADRC) and low adaptive ability of extended state observer, this paper designs a novel intelligent attitude controller based on active disturbance rejection control technology. The adaptive radial basis function neural network can improve the adaptability of the extended state observer, and the fuzzy control can adjust the parameters of the state error nonlinear control law online. The intelligent ADRC controller can eliminate the influence of internal and external disturbances on the unmanned helicopter, and reduce the difficulty of controller parameter tuning. Based on the intelligent ADRC controller, this paper designs an intelligent attitude control system for a small unmanned helicopter and completes the attitude control test. The corresponding test results demonstrate that the intelligent attitude controller has excellent anti-disturbances, robustness and tracking ability, and the control effect is better than that of the traditional ADRC controller.