Attitude Control of Oblique Cross Quad-Rotors UAV

Abstract

Compared with cross quad-rotors, oblique cross quad-rotors are more flexible, stable, and suitable for expansion, so that a growing number of attentions are paid on them. However, some drawbacks such as high model dependency, poor anti-interference ability and robustness are appeared when traditional controllers are used for the attitude control of oblique cross quad-rotors, which is because of strong coupling among the various channels. These problems can be solved by designing a controller based on Linear Active Disturbance Rejection Control (LADRC) algorithm. Firstly, the unmanned aerial vehicle (UAV) modeled is established by the Newton-Euler formula. Secondly, a series of simulation including tracking, anti-interference and robustness experiments are carried out. Finally, the comparison with classic proportional-integral-derivative (PID) controller are analyzed. The results show that LADRC controller has higher performance, such as better tracking capacity, stronger anti-interference ability and robustness.