The active disturbance rejection control technology was designed to solve the problem of formation maintenance in UAV cooperative formation flight, so that the response process had good dynamic quality and small static error. This paper first established a UAV formation flying model based on relative error in a two-dimensional plane. On this basis, the tracking differentiator, the extended state observer and the nonlinear state feedback controller were designed. The simulation results showed that the active disturbance rejection controller designed has good control performance and could realize the mission of maintaining the UAV with high precision.
Design of Active Disturbance Rejection Controller for UAV Formation Maintenance
2019-10-01
1352432 byte
Conference paper
Electronic Resource
English
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