Aerodynamic Parameters Identification and Adaptive LADRC Attitude Control of Quad-Rotor Model

Sen Yang, Leiping Xi, Jiaxing Hao, Yuefei Zhao,Ye Yang, Wenjie Wang 1 Department of UAV Engineering, Army Engineering University, Shijiazhuang 050003, China; 2 School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China; 3 School of electrical and electronic engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China 4 High Speed Aerodynamics Research Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China; School of Engineering, University of Warwick, Coventry, CV4 7AL, United Kingdom; Email:Wenjie.Wang.1@warwick.ac.uk Email:568657132@qq.com Abstract: In accordance with problems such as difficulty in obtaining aerodynamic parameters of a quad-rotor model, the change of model parameters with external interference affects the control performances, an aerodynamic parameter estimation method and an adaptive attitude control method based on LADRC are designed. Firstly, the motion model, dynamics model and control distribution model of quad-rotor are established by using the aerodynamic and Newtonian Euler equations. Secondly, the identification tool CIFER is used to identify the aerodynamic parameters with large uncertainties in frequency domain and a more accurate attitude model of the quad-rotor is obtained. Then an adaptive attitude decoupling controller based on LADRC is designed to solve the problem of poor anti-interference ability of the quad-rotor, so that the control parameter b0 can be automatically adjusted to identify the change of the moment of inertia in real time. Finally, a semi-physical simulation platform is used for simulation verification. The results show that the adaptive LADRC attitude controller designed can effectively estimate and compensate the system's internal and external disturbances, and the tracking speed of the controller is faster and the precision is higher which can effectively improve system's anti-interference and robustness.

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