Haitao Jiang, Qing Chang, Yaoli Wang, and Xiaojuan Xie
ADRC, conjugate gradient, parameter setting, four-rotor aircraft
A conjugate gradient algorithm (CGA) is proposed to address the problem of tuning multiple parameters of an active disturbance rejection controller (ADRC). The CGA combines the minimum variance and control rate of the system to iterate the ADRC’s parameters until the iteration conditions are satisfied. The structure of the CGA is simple, and the parameters of the ADRC do not require manual tuning. The algorithm improves the parameter- tuning efficiency of the ADRC and the control accuracy of the system. To verify the reliability of the proposed algorithm, a four-rotor aircraft is used as an experimental prototype. The simulations show that the CGA is able to quickly tune the parameters of the ADRC, and the ADRC optimized by the CGA improves the stability, robustness, and anti-interference of the four-rotor aircraft.
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