Attitude control for a quadrotor base on ADRC with GSO parameter optimization

A kind of attitude control strategy for the quadrotor based on active disturbance rejection control (ADRC) is proposed in this paper. Firstly, the dynamic model using Newton-Euler formula of the quadrotor helicopter is developed. Then according to the order of dynamics equations design corresponding ADRC. Subsequently, in consideration of the characteristics of uncertain parameter of ADRC, the Glowworm Swarm Optimization(GSO) is designed to optimize the controller parameters so as to enhance the system performance. Finally, the comparative simulation for attitude of quadrotor is developed to verify the effectiveness of the proposed control strategy. The results of simulations show that the proposed controller possesses strong robustness and high performances.