Active disturbance rejection control with FTCESO applied to tiltrotor transition control

In this paper, the active-disturbance rejection control (ADRC) theory is designed for tiltrotor control. The controller including the quadrotor mode, the fixed-wing mode controller and the transition mode control distributor. According to the separation principle, a tracking differentiator, extended state observer, nonlinear state error feedback, and disturbance compensation are designed for each active disturbance rejection controller, and control parameters are given. Nonlinear simulation shows that the ADRC flight control law has good control performance compare with PID controller.