Design of Control System for Small Quadrotor Based on NLADRC

Abstract

Aiming at the problem of poor stability and low control precision of small quadrotor, a set of flight control system based on (Non Linear Active Disturbance Rejection Control, NLADRC) was designed. Firstly, On the basis of analysing the principle of quadrotor flight, a mathematical model of small quadrotor was established. Secondly, the hardware system was designed modularly, the hardware of each module was selected. Then, the quaternion attitude calculation algorithm was used to fuse the attitude data of the accelerometer and the gyroscope, and the four channel (pitch, roll, yaw, height) were controlled by the NLADRC. Finally, the experiment showed that the quadrotor can fly smoothly in the mode of hover.