Attitude Control of Quadrotor UAV Based on ADRC

Quadrotor unmanned aerial vehicle (UAV) is a multi rotor type aircraft with four rotors arranged in a cross shaped pattern. Quadrotor unmanned aerial vehicles, now the most well-known and extensively used type of aircraft, have a number of benefits, including a straightforward design, flexible maneuverability, the ability to take off and land vertically, and the capacity to hover steadily. However, during aerial flight, disturbances have a significant impact on the directional control, hovering, and other operations of a quadrotor unmanned aerial vehicle. This study first models the kinematics and dynamics of a quadrotor unmanned aerial vehicle to address this problem. The ADRC controller is then utilized for attitude loop control depending on the model. Finally, the Simulink is used to undertake simulation analysis. The simulation results show that the pitch angle, yaw angle, and roll angle of the drone have good effects on stationarity, rapidity, and accuracy when the expected state of the input variables is set, and the control variables can be output stably, quickly, and accurately. This study can give reference to exact disposition control of automated ethereal vehicles, particularly as far as against impedance control.