Performance analysis of coaxial counter-rotating UAV based on active disturbance rejection control

Abstract

This paper conducts a systematic evaluation and study of the attitude control quality of a coaxial dual-rotor UAV under complex operating conditions. The existence of complex aerodynamic interference between rotors, strong nonlinearities, and severe cross-coupling between channels poses significant challenges to steady-state disturbance rejection in attitude control. This study introduces a Fixed-Time Active Disturbance Rejection Control (FTADRC) combined with a Channel Coupling Compensation (CI) module. Performance evaluation results demonstrate that, under identical sudden disturbances, FTADRC significantly suppresses the system attitude deviation from 32.73% (as seen in the benchmark algorithm) to 7.96%, while shortening the rise time to 0.154 s. Ablation experiments confirm that the coupling compensation module achieves an 81.4% attenuation rate of fluctuations in the roll channel during pitch maneuvers. Physical flight experiments verify the stability and engineering feasibility of the proposed algorithm in real-world environments.