Design of PID and ADRC based quadrotor helicopter control system

In this paper, an active disturbance rejection control (ADRC) and PID based control method is proposed to perform position and attitude control of a small unmanned quadrotor helicopter model. For the double closed-loop control system, ADRC is applied in the inner loop control, and an extended state observer (ESO) is designed to observe and compensate the internal uncertainties and the external disturbances in real time. PID is used in the outer loop control. Simulation experiments are performed to evaluate the efficiency of proposed control system.