Comparative Analysis of Attitude Control of Quadrotor UAVs: PID, ADRC, and NMPC Algorithms

This paper investigates attitude control of a quad-rotor Unmanned Aerial Vehicle (UA V) using three different controllers. Comparative analysis reveals that the PID controller provides a smoother response but with slower speed and noticeable oscillations under large disturbances. The Active Disturbance Rejection Control (ADRC) controller responds quickly but induces larger overshoot and oscillations. The Nonlinear Model Predictive Control (NMPC) controller exhibits excellent performance in both response speed and stability, albeit requiring substantial computational power.