Attitude Control of a Quad-rotor Based on LADRC

Abstract

In this paper, the structure of the linear active disturbance rejection control (LADRC) is described in detail, including linear tracking differentiator, linear extended state observer and linear feedback control law. Typical algorithms of the each part are given as well. In order to control the attitude of the quad-rotor robot as we expected, we designed a LADRC scheme. Simulations are carried out based on Simulink. After parameters adjustment and simulating with different disturbances, the simulation results show that the LADRC can satisfy the need of control precision and speed of response. It also indicates that the LADRC has strong robustness and anti-disturbance performance, which can control the nonlinear time-varying coupling system effectively.