The Application of Linear Active Disturbance Rejection Control in Micro Quadrotor UAV

The paper focuses on addressing the limited anti-interference ability of micro quadrotor UAVs. It proposes an attitude tracking control based on linear active disturbance rejection control (LADRC) for quadrotor UAVs. The performance of LADRC is tested by simulation and actual flight experiments, comparing with PID controllers. In simulation work, a flight control system and a six degree of freedom (6-DOF) nonlinear aircraft model are established. This allows for the evaluation of dynamic and steady characteristics of the LADRC-based controller. In the actual flight experiments, the quadrotor drone is tested in two scenarios: maneuvering back and forth with a heavy object and hovering under wind interference, where two sizes of micro drones are applied separately. The results of the experiments demonstrate that the LADRC-based controller exhibits good tracking performance and disturbance rejection under different scenarios. This control method shows robustness to both endogenous and exogenous disturbances, making it an attractive solution for addressing the susceptibility of micro UAVs to aerodynamic interference.