Attitude Control of Quadrotor UAV Using Improved Active Disturbance Rejection Control

Abstract

The quadrotor UAV has complex aerodynamics, unstable altitude, and easy to be disturbed by internal and external uncertainties during flight, so good attitude control becomes a challenge, this paper improves the active disturbance rejection controller to improve the system's anti-jamming ability and response speed in response to the above problems. Firstly, a quadrotor UAV dynamics model is established; then the Ifal function is constructed, which solves the problems that the inflection point of the fal function is not smooth, which is easy to cause the system jitter and the system gain is large when the error is large, and finally the performance is verified by using MATLAB/Simulink simulation software. The simulation results show that the constructed Ifal function is smoother and has better convergence, and compared with the traditional active disturbance rejection control, the improved active disturbance rejection control system has faster response speed, stronger anti-jamming ability and robustness in the attitude control of quadrotor UAV.