Design of Dual-Rotor Vehicle Controller Based on Auto Disturbance Rejection

Aiming at the characteristics of dual-rotor vehicle, nonlinear, strong coupling and easy to be interfered, a design method of altitude tracking and attitude stabilization using nonlinear active disturbance rejection controller was proposed. The mathematical model of the dual-rotor vehicle was established through dynamic analysis, and the state coupling was regarded as the internal disturbance. The state observer was used to estimate the state and internal and external disturbance of the system in real time, and then the nonlinear feedback was used to compensate the estimated value of the internal and external disturbance of the model, and the state decoupling control of the dual-rotor vehicle was realized. Finally, through the simulation experiment, and compared with the classical PID control method, the experimental results show that the active disturbance rejection controller can realize the altitude tracking and fast and stable attitude control of the dual-rotor vehicle, and has strong anti-interference and robustness.