一种基于四元数姿态误差的ADRC尾座式无人机悬停控制方法
By adopting the ADRC control method based on quaternion attitude error, the attitude control problem of tail-flying VTOL UAV during the hovering phase was solved, achieving stable and fast attitude tracking, eliminating the safety hazards of PID parameter tuning, and improving the performance of the control system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 长春长光博翔无人机有限公司
- Filing Date
- 2023-05-30
- Publication Date
- 2026-07-17
AI Technical Summary
Tail-mounted vertical take-off and landing (VTOL) drones face significant challenges in attitude control during the hovering phase. Existing controllers do not consider input constraints, resulting in limited or unstable control performance. Furthermore, the safety of PID parameter tuning is difficult to guarantee, and the drones are prone to instability, especially during maneuvers.
The ADRC control method based on quaternion attitude error is adopted. By recalculating the total attitude error, a tracking differentiator and a disturbance observer are introduced to design a disturbance compensation mechanism, limit the yaw attitude error, and perform motor thrust control allocation.
Stable attitude control of UAVs during the hovering phase was achieved, eliminating the singularity of Euler angle attitude control, balancing speed and overshoot, improving the transient and steady-state performance of the control system, and reducing the safety risks of PID parameter tuning.
Smart Images
Figure CN116700304B_ABST