Active disturbance rejection control system design for quadrotor

Aiming at the quadrotor characteristics of non-linearity, strong coupling and vulnerability to external disturbances, the attitude controller and height controller are designed based on linear active disturbance rejection control (LADRC). During the design of attitude controller, a virtual control variable is introduced at first to realize the decoupling of static part in system coupling terms. The dynamic coupling part is taken as the system internal disturbance which is estimated by linear extended state observer (LESO) and compensated in the control law. In addition, LADRC is used to improve the tracking precision and anti-disturbance ability of height controller. The simulation results indicate that attitude controller based on LADRC is superior to PID controller both in decoupling ability and anti-disturbance ability.