Active Disturbance Rejection Control of Unconventional Quadrotor based on Grey Wolf Optimization Algorithm

Abstract

The dynamics of transformable unmanned aerial systems are complex since it includes some non-linearities and control uncertainty. Furthermore, there are subjected to unknown and unmeasurable internal and/or external disturbances caused by structural transformation (rotating arms). These complex dynamics require an advanced disturbance rejection technique to manage the disturbances. In this work, we suggest using the Active Disturbance Rejection Control (ADRC) method as a substitute solution to address the issue of unknown internal and external disturbances in nonlinear systems. We have opted in our application for the reconfigurable quadrotor nonlinear system as a Transformable Unmanned Aerial System, and all of the ADRC coefficients have been synthesized using the Grey Wolf algorithm (GWO). Simulation results obtained from our chosen system are given to show good performance in terms of disturbance rejection.