Dynamic Modeling and Altitude Control for Flying Cars Based on Active Disturbance Rejection Control
Source abstract
Abstract
Flying cars offer huge advantages due to their deformable structure, which can adapt to external environments and mission requirements. They represent a novel system that can realize vertical takeoff and landing. However, the structure of a flying car is complicated, placing higher requirements on modeling accuracy and control effectiveness. Thus, in this paper, a dynamic model of a flying car is proposed by combining a car body, motor, and propellers. Then, a double-loop controller based on active disturbance rejection control is proposed to accurately control its flight altitude. Utilizing the extended state observer, external wind and other disturbances are regarded as an extended state, which can be dynamically observed and compensated to significantly improve tracking accuracy. The effectiveness of the proposed controller is validated through detailed simulations and flight experiments. The proposed controller significantly improves control accuracy and disturbance rejection capability.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Aerospace and Aviation Technology · Aerospace Engineering and Energy Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China
College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Funding
National Natural Science Foundation of China
References (41)
Show source-provided references
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