Attitude control of a moving mass-actuated fixed-wing UAV based on LADRC

Abstract This paper concerns attitude control of a moving mass-actuated fixed-wing unmanned aerial vehicle (MFUAV). Unlike conventional roll motion UAV, which is controlled by ailerons, this MFUAV uses the movement mass block inside wing to generate moment. It difficult design suitable controller for it due strong non-linearity and coupling dynamics. Linear active disturbance rejection (LADRC) proved be simple effective alternative PID control. LADRC able eliminate disturbances with help extended state observer (ESO) does not depend on accurate mathematical models particular systems. Finally, simulation results show that tracking well achieved robustness. shows designed method easy adapt implement during actual flight MFUAV.