The Design of Quadrotor UAV Based on Nonlinear Active Disturbance Rejection Control

Aiming at the problem that the quadrotor unmanned aerial vehicle (UAV) itself has a complex nonlinear dynamic model and is vulnerable to external interference when flying in the air, a control scheme of quadrotor UAV based on nonlinear active disturbance rejection control (NLADRC) was proposed. Firstly, the virtual control variables were introduced to decouple the quadrotor flight system and establish a dynamic model. Secondly, the nonlinear extended state observer (NLESO) is used to estimate and compensate for the internal uncertainty and the external disturbances of the system in real time, which improves the robustness and anti-disturbance ability of the system. The tracking error is suppressed by nonlinear state error feedback (NLSEF) and compensation efficiency is improved. Finally, the stability of the system is proved by experimental simulation through the simulation platform. The results show that the control scheme proposed in this paper can ensure the quadrotor track the target trajectory quickly and accurately with the advantages of small overshoot, higher precision and strong anti-disturbance ability while maintaining stability.