Application of improved active disturbance rejection control algorithm in tilt quad rotor

The Tilt Quad Rotor(TQR) has complex dynamics characteristics, especially in conversion mode. It is difficult to build the dynamic model of the TQR and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of TQR, this paper carries out the design of the controller based on improved Active Disturbance Rejection Control(ADRC). According to the characteristics of flight in conversion mode, Tracking Differentiator(TD) with explicit model is used to solve the problem of multiple integrals when the system is high-order system. Extended State Observer(ESO) with Radial Basis Function(RBF) neural network is used to estimate and compensate for internal and external uncertainties, and the adaptive sliding mode control in Nonlinear State Error Feedback(NLSEF) is used to improve the response speed of the controller and reduce the parameters which should be tuned. Through the flight control simulation of the TQR, the validity and rationality of the control system are verified.