Landing Control for Quadrotors Based on Active Disturbance Rejection Control and Visual Servo

In this paper, a landing control scheme for quadrotor is proposed. The control scheme is composed of attitude control and position control. Firstly, the active disturbance rejection control is used for attitude control. Secondly, in the position loop, proportional-derivative control method is adopted. What’s more, by studying the measurement model and kinematics model of inertial measurement unit (IMU), a scheme that fuses images and IMU data is designed and used for feedback. A delay compensation scheme based on extended state observer is designed to compensate for the time delay caused by transmission and calculation of image. Finally, the simulation results show the effectiveness of the landing control scheme proposed in this paper.