Simulation of a Quadrotor under Linear Active Disturbance Rejection

Abstract

The quadrotor aircraft has the characteristics of simple structure, high attitude maintenance performance and strong maneuverability, and is widely used in air surveillance, post−disaster search and rescue, target tracking and military industry. In this paper, a robust control scheme based on linear active disturbance rejection is proposed to solve the problem that the quadrotor is susceptible to various disturbances during the take−off process of non−horizontal planes and strong disturbances. Linear Active Disturbance Rejection Control (LADRC) is a product of a tracking differentiator (TD), a linear extended state observer (LESO) and an error feedback control law (PD) and is a control technique for estimating compensation for uncertainty. Radial Basis Function Neural Networks (RBFNN) is a well−performing forward network with best approximation, simple training, fast learning convergence and the ability to overcome local minima problems. Combined with the advantages and disadvantages of LADRC, Adaptive Control and Neural Network, the coupling force between each channel, gust crosswind disturbance and additional resistance of offshore platform jitter in the flight state of the quadrotor are optimized. In the control, the RBF neural network is designed, the nonlinear control signal is wirelessly approximated and the uncertain disturbance to the quadrotor is identified online. Finally, the real−time estimation and compensation are performed by LESO to realize the full−attitude take−off of the quadrotor. In addition, this paper uses adaptive control to optimize the parameters of LADRC to reduce the problem of many LADRC parameters and difficulty to integrate. Finally, the robust control system mentioned in this paper is simulated and verified, and the simulation results show that the control scheme has the advantages of simple parameter adjustment and stronger robustness.