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<p>In this article, the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control (ADRC) applied on the tangent linearized system. To apply the ADRC scheme, it is considered the subsystem without the <i>Y</i>-axis component, which is differentially flat and whose flat outputs are obtained using the Kronecker matrix. Numerical assessment using as system parameters the ones of a scale prototype is provided to show the effectiveness of the proposal leading to accurate tracking results using admissible control values for an experimental scenario.</p>

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Modeling and active disturbance rejection control of a tilt-rotor UAV

  • 期刊论文

  • 发表日期：

    2025年8月1日

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  • Victor-Gabriel Sánchez-Meza,
  • Yair Lozano-Hernández,
  • Norma Lozada-Castillo,
  • Mario Ramírez-Neria,
  • Alberto Luviano-Juárez

摘要

In this article, the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control (ADRC) applied on the tangent linearized system. To apply the ADRC scheme, it is considered the subsystem without the Y-axis component, which is differentially flat and whose flat outputs are obtained using the Kronecker matrix. Numerical assessment using as system parameters the ones of a scale prototype is provided to show the effectiveness of the proposal leading to accurate tracking results using admissible control values for an experimental scenario.