改进型自抗扰四旋翼无人机控制系统设计与实现

In order to improve the ability of disturbance rejection of quadrotor UAV attitude control, this paper presents an improved Active Disturbance Rejection Controller (ADRC) with nested structure of inner and outer loops. The numerical simulation model of quadrotor UAV attitude control system is constructed with parameters measured from an actual prototype. By comparing to traditional double closed-loop PID controller, it is shown that the improved ADRC has very strong ability of disturbance rejection and high control efficiency, with quick response and no overshoot. The quadrotor UAV has excellent control effect during flight test with big partial load and strong disturbance from unknown directions, using the same control algorithm as in simulation.