An active disturbance rejection control guidance law based collision avoidance for unmanned aerial vehicles

In this paper, an active disturbance rejection control guidance law is proposed for the problem of unmanned aerial vehicle (UAV) collision avoidance. First, a linear time-varying collision avoidance model based on a collision cone is established. Then the active disturbance rejection control guidance law is designed to ensure the security of UAV collision avoidance. In addition, the stability of a nonlinear active disturbance rejection system with an extended state observer is proved by the circle criterion, and the stability conditions are used to design the guidance coefficients. A simulation system based on a six-degrees-of-freedom UAV model is used to demonstrate the performance of this guidance law. The results conclusively demonstrate that this method can achieve collision avoidance in the presence of sensor noise, an unknown acceleration of an obstacle, and wind disturbance. Moreover, the manoeuvring range of collision avoidance using this method is narrower than the collision avoidance method based on nonlinear dynamic inversion guidance.