An Improved ADRC Method Based on Time Segement Strategy and Weighted Observer Fusion for UWM Systems

This paper presents an improved ADRC method based on time segement strategy and weighted observer fusion (TSWF-ADRC), which aims at achieving efficient and safe payload transportation using multi-rotor unmanned aerial vehicles equipped with a manipulator (UWM) system. This method enhances the standard active disturbance rejection control (ADRC) framework by integrating a time partitioning strategy with a weighted combination of observers and theoretical values for online disturbance estimation and compensation. First, the UWM system is modeled using Lagrangian mechanics to derive its dynamic equations. The control strategy is structured into two phases: approaching, and stabilizing, each employing distinct control laws. By gradually increasing the control input values, the method mitigates the effects of system nonlinearity and strong coupling on the manipulator's end-effector position. Furthermore, the weighted fused disturbance estimates yield smaller estimation errors compared to those derived solely from observers. Simulation results demonstrate that the proposed control method significantly improves both efficiency and safety when compared to the conventional ADRC.