| Citation: | REN Binwu, ZHAO Qijun, ZHANG Xiayang, et al. Helicopter attitude active disturbance rejection control based on ant colony algorithm[J]. Journal of Aerospace Power, 2025, 40（4）：20230464 doi: 10.13224/j.cnki.jasp.20230464
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An active disturbance rejection control for helicopter attitude was created to lessen the impact of external environment disturbance on helicopter flight attitude. The helicopter linear dynamic model was established. The active disturbance rejection control’s small signal was prone to buffeting, so the state observer based on error post-processing was built to further eliminate buffeting of the control quantity, and the virtual control quantity was established to realize the control decoupling between the helicopter channels. To achieve stable management of the helicopter’s flight attitude and angular rate on the decoupling channel, the ant colony algorithm was used for optimizing the parameter setting of the active disturbance rejection control in the inner and outer loops. Simulation results demonstrated that the introduction of virtual control variables enabled decoupling of high-order coupled systems, facilitating the implementation of single-channel control. Constructing an error post-processing observer effectively mitigated the control variable buffeting caused by excessive bandwidth, thereby enhancing controller tracking performance and disturbance rejection capability. The ant colony algorithm was employed for tuning the parameters of the anti-disturbance controller, simplifying the selection difficulty of controller parameters and improving both the system’s response rate and stability.
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