Model and Stability Analysis of Position-Attitude Control for Small Attack UAVs Based on ADRC
WU Xianfeng1， ZHANG Hangwei2， WANG Yaping2， LIU Xing1， WEN Qingpeng1
1. School of Sino-German Robotics， Shenzhen University of Information and Technology， Shenzhen 510080， Guangdong， China； 2. School of Mechanical Engineering， Nanjing University of Science and
Technology， Nanjing 210094， Jiangsu， China
Abstract：Based on the Newton-Euler theorem, this paper constructs a control model for small attack Unmanned Aerial Vehicles (UAV), integrating the Dryden turbulence wind field and recoil force models. Position and attitude controllers are designed using Active Disturbance Rejection Control (ADRC) theory. Comparative experiments with traditional PID control demonstrate that the ADRC controller possesses stronger anti-disturbance capability and faster dynamic response under wind disturbances and step disturbances. Stability factor analysis indicates that: with increased firing angle, the maximu•m yaw and pitch angles gradually decrease, while the maximum roll angle exhibits a nonlinear variation of initial increase followed by decrease; with increased firing frequency, the pitch angle disturbance presents a superposition effect, aggravating attitude deviation. The research results provide a new approach for high-precision stability control of small attack UAV in complex battlefield environments, and have important application value in military reconnaissance, precision strike and other fields.
吴险峰, 章杭炜, 王亚平, 刘星, 闻勍鹏. 基于ADRC的小型攻击无人机位姿控制模型与稳定性分析[J]. 空天防御, 2026, 9(2): 18-32.
WU Xianfeng, ZHANG Hangwei, WANG Yaping, LIU Xing, WEN Qingpeng. Model and Stability Analysis of Position-Attitude Control for Small Attack UAVs Based on ADRC. Air & Space Defense, 2026, 9(2): 18-32.
