Disturbance Rejection Attitude Control of Quadrotor UAVs Based on Improved BAS Algorithm

This research focuses on achieving rapid and stable control of quadrotor unmanned aerial ve-hicles' (UAVs) attitude using an Active Disturbance Rejection Controller (ADRC). To tackle the challenge of numerous and complex ADRC parameters, optimization algorithms are employed for parameter tuning. We introduce a variable step-size search mechanism based on the Beetle Antennae Search algorithm (BAS) and leverage the Sine Cosine Algorithm (SCA) for pre-search. The parameter tuning results reveal that the refined optimization algorithm displays superior global optimization capability, convergence rate, and stability. Both simulation and experimental outcomes suggest that the ADRC controller with optimized parameters exhibits remarkable control and anti-disturbance performance.