Autonomous aerial refueling precise docking based on active disturbance rejection control

In this paper, the receiver aircraft of the AAR is modeled, and the disturbances are presented. The longitudinal and the lateral model of the receiver are correspondingly transformed into relevant three second-order systems and a third-order system. It makes the motion model more convenient for controller design, and the scale separation is avoided at the mean time. Then, the ADRC is firstly applied to the precise docking controller design to adequately reject the different complex disturbances during the docking of AAR. Comparative simulation results show that the ADRC achieves better performance in AAR docking control under complex flow interference.