To enable unmanned helicopters to fly autonomously in precise paths and to reduce the influence of helicopter dynamic model error,this paper proposes a hybrid controller with active disturbance rejection control(ADRC) and adaptive control for trajecto-ry tracking. This paper proposes the model reference adaptive control strategy for the inner-loop controller. This paper uses the momentum back-propagation (MOBP) neural network algorithm to tune the parameters of the proposed inner-loop controller. This paper uses ADRC in the proposed controller for velocity control. The simulation results indicate that the proposed controller can achieve good trajectory tracking. Compared with the PID controller and cascade ADRC,the proposed hybrid controller is more robust and has better anti-disturbance capability. This paper uses the proposed hybrid controller for trajectory-tracking control of the XV-2, which is an unmanned helicopter with a gross take-off weight level of 200 kg. With the help of the hybrid controller in our flight test, the root mean square error of the XV-2 trajectory-tracking control is within 0.6 m.
To meet the ADS-33E-PRF flight quality and effectively overcome the influence of external disturbance,an attitude control strategy based on a linear active disturbance rejection control( LADRC) is proposed for helicopter. Flight dynamics model of UH-60 A and the wind model were established. UH-60 A was trimmed for verifying accuracy of dynamic model and trim algorithm. Helicopter attitude decoupling control loop based on the single input / single output second-order LADRC controller was set up with stabilization feedback loop. The controller parameter tuning problem was transformed into constrained optimization problem in time and frequency domain according to quality requirement of ADS-33E-PRF. Combining H-infinity synthesis algorithm and steepest descent algorithm,the optimization of parameters was calculated. Quality assessment of attitude control was made and the control loop was applied to the attitude hold control simulation in atmospheric disturbance. The results of simulation and quality evaluation show that the attitude control system based on LADRC has good decoupling performance and capability of anti-disturbance.
