A Design Approach to Linear Active Disturbance Rejection Controller Based on Linear Quadratic Regulator Method for Quadrotor Attitude Control

This paper proposes a design approach to linear active disturbance rejection control (LADRC) based on a linear quadratic regulator (LQR) method for quadrotor attitude control. The controller gain is designed based on the LQR method to adjust relationships between fast responses of plant outputs and the magnitude of its inputs. Numerical simulations are performed, and the results are compared with those of the PID control and those of LADRC based on the pole placement method to confirm the effectiveness of the proposed LADRC. Furthermore, the robustness against disturbances of the proposed LADRC is confirmed to be superior to that of the PID control system. Additionally, it is verified the proposed LADRC has almost the same control performance as the conventional LADRC, and the relationship between fast responses of plant outputs and the magnitude of its inputs can be adjusted.