Attitude Control of Flapping-wing Micro Aerial Vehicle Based on Active Disturbance Rejection Control

Mathematical model of the attitude control system of Flapping Wing Micro Aerial Vehicle(FWMAV) is presented, and a novel multi-variable Active Disturbance Rejection Control(ADRC) scheme is proposed. The design of attitude controller is challenging owing to the complex flight process. The heavy difficulty is that the system embodies uncertainties, nonlinearities, coupled multi-variableness, and all kinds of disturbances(such as gust). Because ADRC does not depend on the accurate mathematical model of plant, the disturbances and uncertainties are taken as one state matrix vector to design Extended State Observe (ESO) and nonlinear PD (proportional derivative)controller. The controlled attitude angles can reach the desired results simultaneously if the relevant parameters are tuned harmoniously. Simulation results are presented to verify the effectiveness of the proposed method.