UAV Taxiing Control Based on Linear Active Disturbance Rejection Control

Abstract

In order to research the ability of the UAV to correct deviation during the front three-wheel taxiing phase and establish accurate taxi model of the drone, this paper takes a certain UAV with nose-wheel landing gear as the research object. This paper conducts a complete dynamic analysis of its ground model, improves the ground force analysis and aerodynamic analysis, builds a 6-demention model which contains a PID controller and adds a LADRC controller in Matlab for verifying the anti-disturbance ability of LADRC of the UAV in the model. The result shows that compared with PID controller, LADRC can effectively suppress heading deviation caused by the disturbance, and the drone can be more quickly aligned to the heading for the UAV rolling under disturbance.