Autolanding of unmanned aerial vehicles based on Active Disturbance Rejection Control

Abstract

The safe landing of unmanned aerial vehicles (UAVs) under various wind conditions has been a challenging task for decades. We design an autolanding control system which consists of a throttle control subsystem and an altitude control subsystem based on the Active Disturbance Rejection Control (ADRC). In contrast to previous methods, our approach can directly and real-timely estimate the UAV's internal and external disturbances and then compensate for them. Simulation results show that our autolanding control system can land the UAV safely under wide range wind disturbances (e.g., wind turbulence, wind shear) with the help of ADRC.