Path tracking control for eight-rotor aircraft based on linear ADRC algorithm

This paper focus on the path tracking control for a eight-rotor aircraft taking into account various types of external disturbance. Controllers based on the linear adaptive disturbance rejection control (LADRC) are designed for altitude and attitude tracking. PD controllers are designed for longitudinal and lateral trajectory tracking by generating the ideal attitude angles. Different flight conditions are considered in simulation environment, which include no disturbance, aerodynamic moment disturbances, aerodynamic force and moment disturbances. The experiment results are presented to validate the effectiveness and robustness of the designed controllers.