Active Disturbance Rejection Control Based on Ballistically-Launched Foldable Rotor Unmanned Aerial Vehicle

With the rapid development of modern aviation and UAV technologies, ballistically-launched foldable rotor UAVs are widely used in modern battlefields for their high portability and rapid deployment capabilities. This paper explores the control challenges faced by such UAVs in complex and changing battlefield environments, including the stabilization problem after rapid deployment and the anti-jamming problem during flight. To solve these problems, a dual closed-loop active disturbance rejection control (ADRC) scheme is proposed in this paper. The scheme employs an improved extended state observer (ESO) and uses a new smooth nonlinear xfal function constructed based on the sinusoidal function to improve the ESO. By comparing the proposed improved ADRC control with the conventional ADRC through simulation, the proposed improved ADRC control has excellent interference immunity while reducing the jitter.