Design of Yaw Controller for a Small Unmanned Helicopter Based on ADRC

Abstract

For ensuring the stabilities of unmanned helicopters under various working conditions, this paper introduces a yaw controller based on ADRC. Because the effect of PI or PID controller is not enough in some severe environments such as working in a situation with strong wind, so ADRC is wildly used in the area of UAV. However, it takes a lot of time to adjust parameters, which is not conductive to piratical application. What this article makes is to enhance and to simplify traditional ADRC through practical experiments and theory analysis. This paper uses gradient descent to identify the actuator gain $b_{0}$, and summarizes the practical tuning experience during the tuning process. Compared with the traditional PID method, the experimental analysis claim that the method proposed in this article has significant advantages in both dynamic performance and anti-interference performance.