Modeling and active disturbance rejection control of a tilt-rotor UAV
Victor-Gabriel Sánchez-Meza
Yair Lozano-Hernández
Norma Lozada-Castillo
Mario Ramírez-Neria
Alberto Luviano-Juárez
Abstract：In this article, the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control (ADRC) applied on the tangent linearized system. To apply the ADRC scheme, it is considered the subsystem without the Y-axis component, which is differentially flat and whose flat outputs are obtained using the Kronecker matrix. Numerical assessment using as system parameters the ones of a scale prototype is provided to show the effectiveness of the proposal leading to accurate tracking results using admissible control values for an experimental scenario.
Keywords：Tilt-rotorADRCTangent linearizationMultivariable systemsUnmanned aerial vehicles
Publication Date：2025-08-30
Online Publishing Date：2025-12-09(First online date of this platform, not the publication date of the document)
Pages：15( 563-577 )