Abstract
This paper considers the active disturbance rejection control (ADRC) problem of a quadrotor unmanned aerial vehicle (UAV). First, the mathematic model of an X-type quadrotor UAV is established based on the dynamic knowledge and Newton’s law of motion. Then, a cascade PID control and an ADRC strategies are designed for quadrotor UAV, respectively. Finally, through numerical simulation, it is verified that the proposed ADRC strategy has better disturbance rejection ability than the traditional cascade PID control.
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