Roll Controller Design for Miniature Air-to-Ground Missile based on ADRC

A roll controller for miniature air-to-ground missile is designed based on Active Disturbance Rejection Control (ADRC) in this paper. The coupled interactions between roll and lateral channel, model uncertainty, internal and external disturbance of the plant are all treated as unknown disturbance, which is estimated in real-time by linear Extended State Observer (ESO). The control plant is transformed into a simple integrator plant after compensating the estimated disturbance. Then the pole assignment technique is adopted to assign the closed-loop poles into specified position. Furthermore, the lag-lead compensation is introduced to increase the delay margin of the open-loop system. Simulations show the performance of ADRC controller is dominant compared with classical PID controller.