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Volume 49 Issue 12
Dec.  2023
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Journal of Beijing University of Aeronautics and Astronautics  > 2023  >  49(12): 3283-3292.
YAN H B，XU W B，HUANG L E. Design of quadrotor attitude controller based on improved ADRC[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（12）：3283-3292 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0129
Citation: YAN H B，XU W B，HUANG L E. Design of quadrotor attitude controller based on improved ADRC[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（12）：3283-3292 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0129
shu

Design of quadrotor attitude controller based on improved ADRC

doi: 10.13700/j.bh.1001-5965.2022.0129
  • 1.

    School of Science，Jiangxi University of Science and Technology，Ganzhou 341000，China

  • 2.

    School of Electrical Engineering and Automation，Jiangxi University of Science and Technology，Ganzhou 341000，China

Funds:  National Natural Science Foundation of China (11765008); Youth Science Foundation of Jiangxi Province (20161BA216128)
More Information
  • Corresponding author: E-mail：9320080310@jxust.edu.cn
  • Received Date: 08 Mar 2022
  • Accepted Date: 02 Jul 2022
  • Publish Date: 13 Jul 2022
    Abstract

  • An improved active disturbance rejection control (ADRC) was proposed for quadrotor attitude control to address the extended state observer (ESO) based on the traditional fal function's problems with easy chattering and insufficient anti-interference ability when responding to complex disturbances. A new smooth nonlinear xfal function was constructed based on the sine function to improve ESO. The stability of the improved ESO was proved by Lyapunov function. Finally, the improved ADRC was compared with other ADRCs through simulation platform. The results demonstrate that when compared to the standard ADRC, the mean square error of the pitch angle is reduced by approximately 38.7% in its chattering interval, and by approximately 78.4%, 80.2%, and 83.3% in their respective calculation intervals when the quadrotor was subjected to continuous interference, sudden interference, and complex interference, respectively. This indicates that the improved ADRC has excellent anti-interfere capabilities.

     

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