Hover Control of Tail-sitter UAV under Wind Field DisturbanceBased on Improved ADRC

To solve the problem that Tail-sitter UAV is easily affected by external wind field disturb.ance and model uncertainty ,a combined control algorithm of outer loop PiD and inner loop ADRCwas designed to control the hovering attitude and height, and the ESO was optimized to solve the dif.ficulty of parameter tuning. The northeast coordinate system defined by vertical Euler Angle was es-tablished to describe the hovering flight state , and mathematical modeling was carried out to completethe full motion equations, A nonlinear full motion equation model based on improved ADRC was es.tablished in Matlab/Simulink,and the wind field was established by Dryden atmospheric turbulencemodel , and the control effect under interference was simulated and analyzed. Simulation results showthat the improved ADRC control algorithm can effectively resist wind field interference and achieve stable hover attitude and height control.