Control of Small Unconventional UAV Based on an On-Line Adaptive ADRC System

Tong Yue Gao; Dong Dong Wang; Fei Tao; Hai Lang Ge

doi:10.4028/www.scientific.net/AMM.494-495.1206

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Control of Small Unconventional UAV Based on an...

Control of Small Unconventional UAV Based on an On-Line Adaptive ADRC System

Abstract:

Recently, the UAV has become the research focus at home and abroad. this paper puts forward a unconventional type: double ducted tilting Subminiature UAV system (SUAV) , and carries out the research of the control system for this SUAV. Since SUAV flight attitude control process has strong time-varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules and output scale of ADRC control system. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1206-1211

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1206

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Online since:

February 2014

Authors:

Tong Yue Gao*, Dong Dong Wang, Fei Tao, Hai Lang Ge

Keywords:

Adaptive Fuzzy Control System, On-Line, SUAV

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* - Corresponding Author

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