Active disturbance rejection switching control of quadrotor based on robust differentiator

Abstract

To solve the problem of trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV) under white noise disturbance, a new active disturbance rejection control (ADRC), an active disturbance rejection switching control (ADRSC) algorithm of the quadrotor based on a robust differentiator, is proposed. The dynamic model of the quadrotor is stated in three sub-equations, and a control algorithm is designed. The exact robust differentiator (ERD) replaces the tracking differentiator in the traditional ADRC algorithm to improve the accuracy and robustness of the differential signal. The ADRSC algorithm controls the quadrotor to improve its anti-white-noise disturbance ability and control accuracy. Simulation results show that the quadrotor has an anti-white-noise disturbance ability of no more than 0.1 dB intensity with this algorithm.