On-line Adaptive Controller System used on Small UAV

AbstractSince Small Unmanned Helicopter flight attitude control process has strong time- varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight