Quadrotor Attitude Control Based on Modified Linear Active Disturbance Rejection Control

Attitude control of a quadrotor unmanned aerial vehicle is still a hot research topic. Active disturbance rejection control attracts more attention recently. This paper takes into account the dynamics of the propulsion system and designs a higher-order active disturbance rejection controller with compensation of partial model information. Simulation and experiment demonstrate that the proposed controller presents better performance and robustness compared with the traditional active disturbance rej ection controller.