Active Disturbance Rejection Control Design for Compound-Wing UAV with Rotor Disturbance

Because of its vertical take-off and landing and high-speed cruise functions, compound-wing unmanned aerial vehicle (UAV) has broad application prospects in the industry. Due to its special structural design, the level flight process of compound-wing UAV will be interfered by the rotor, resulting in the decline of its control performance, which will seriously affect the flight stability of compound-wing UAV. However, it still lacks relevant research on anti-rotor disturbance. This paper presents a controller that can effectively reduce the influence of disturbances on the attitude of a compound-wing UAV. First, the compound-wing UAV model and rotor disturbance model are established. Then, the design of the active disturbance rejection control (ADRC) is carried out. Finally, the attitude control effects of PID and ADRC when the UAV is disturbed by the rotor are compared and analyzed. The simulation results show that in the case of disturbance, the ADRC has better control performance compared with PID.