Yaw Robust Control of UAV Based on Linear Auto-Disturbance Rejection Compensation

Abstract

The UAV is affected by more driving power in the flight with load, it is easy to produce yaw, which leads to the error of the flight trajectory, so it needs to be modified to improve the UAV control performance. A control method for UAV based on static saturation compensation of linear auto disturbance rejection yaw is proposed. The parameters such as pitch torque, rolling moment and the driving force of yaw actuator are used as the constraint index. The model of UAV yaw control object is constructed, the translational dynamics and rotational dynamics models of UAV are constructed, the rolling transfer dynamics of UAV is analyzed according to the attitude motion mechanism of UAV, and the structure model of yaw controller is established. The linear ADRC controller of yaw system is designed according to the flight attitude observations. The relationship between rotor rotation moment and motor speed is analyzed. The static compensation method of linear auto disturbance rejection yaw is used to track the position and attitude parameters of UAV. The anti-saturation compensation of yaw trajectory is realized, and the static anti-saturation compensator is designed to improve the steady-state tracking ability of UAV. The simulation results show that the proposed method can correct the trajectory of the UAV in real time and suppress the saturation error effectively. The attitude disturbance of the yaw actuator is restrained, and the expected yaw angle is finally achieved, and the flight control robustness of the UAV is improved.