Quadrotor Flight Control Based on Improved Active Disturbance Rejection Control Technology

This paper proposes a four-rotor attitude control method based on improved active disturbance rejection control. Based on the analysis of the active disturbance rejection controller from the deviation theory, it is found that the extended state observer has problems such as high steady-state error and difficulty in parameter selection. Then, an improved extended state observer was designed structurally, its stability was proved and the error was compared with the traditional extended observer, and the improved auto-disturbance rejection control was applied to the attitude control of the quad-rotor UAV. Finally, the simulation verification of the controller is carried out from various aspects of attitude tracking, height-fixing experiment, external force interference test and wind interference test, and compared with traditional ADRC, the comparison results show that its performance is better than traditional ADRC.