Linear active disturbancerejection control for a tumbler-reaction wheel system

Tumbler-reaction wheel system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for active wind disturbance reject of Micro Air Vehicles (MAVs) in Atmospheric Boundary Layer (ABL) area. The advantage of tumbler-reaction wheel structure is that the reaction torque induced by reaction wheel could attenuate disturbance torque to keep body stable which inspired by the method of disturbance reject of tethered Manduca sexta. In this paper, we start to study the linear dynamic model of a tumbler-reaction wheel system with a half circle shape at the bottom in small angle condition. Based on the established model, alinear active disturbance rejection control (LADRC) method is designed for external disturbance reject which is estimated by alinear extended state observer (LESO). Several external disturbances are applied on the tumbler-reaction wheel system and the simulation results present that the disturbance attitude angle of tumbler-reaction wheel system are rejected obviously. In addition, the comparison results of PID and LADRC present the better disturbance rejection and control performance in LADRC. This method may be could apply on MAVs for wind disturbance rejection in ABL area.