Abstract
This paper reported an implementation of quadrotor controller, aimed at using ADRC-based controller cascaded with PID controller to overcome hovering difficulties and provide resistance to extreme wind conditions in the complex airflow environment common in typical urban low-flying environments. The main tasks of the implementation including analyzing the complexity of urban low air flow environments and exploring what challenges it brings to the hovering stability of lightweight quadcopters, as well as demonstrating the good performance of the cascade PID-ADRC controller in this case and compare it with a classic PID controller.
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