UAV trajectory tracking based on ADRC control algorithm

Abstract

UAV flying in the air is affected by external airflow factors, and the system has the characteristics of underdrive, nonlinear and uncertainty, which makes the flight state of the UAV become complicated. The trajectory tracking of UAV is studied by using Active disturbance rejection control (ADRC) algorithm. ADRC control algorithms include tracking differentiator, extended state observer and error feedback control law. The active disturbance rejection and decoupling control of UAV track tracking is studied, The active disturbance rejection decoupling control introduces static decoupling matrix B to decouple the virtual control law U. The dynamically coupled disturbances are regarded as total disturbances, which are observed in real time by ESO of each main channel and compensated by control laws. Finally, the 2d trajectory tracking of UAV is realized.