Abstract
This paper proposes a sliding mode a ADRC strategy for multivariable and strongly coupled quad-rotor UAV position and attitude control system. First, aiming at the problem of insufficient ADRC disturbance estimation ability, the non-continuous smooth nonlinear function in the extended state observer is improved. Then, based on the improved ADRC, the non-singular terminal sliding mode control is replaced by NLSEF, and the sliding mode ADRC is obtained. The simulation verifies that the four-rotor UAV pose control system based on sliding mode active disturbance rejection has faster pose tracking speed, stronger stability and immunity to disturbances.
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