Design of Altitude Control System for Quadrotor UAV Based on PID and LADRC

Four rotor UAV is an underactuated system with four inputs and six outputs. Due to its low flight altitude, its altitude control is easy to be disturbed by near ground air flow. The disturbance of air flow is unknown, and the control accuracy of traditional PID controller is often difficult to meet the requirements. In view of this, the combined control system is used to form the height position control system. This paper designs a UAV height position speed cascade control system based on PID and LADRC, and verifies the real-time and robustness of the system by building a Simulink simulation platform.