Attitude Control Design of Quadrotor Aircraft Based on Cascade LADRC with Feedforward Compensation

Quadrotor aircraft is a highly coupled and underactuated controlled object, and it faces challenges such as external disturbances and model uncertainties during flight. Therefore, high precision attitude estimation and flight controllers are required. This paper proposes a cascaded linear active disturbances rejection control (CLADRC) method for attitude control of quadrotor aircraft, based on feedforward compensation. The control method effectively constrains the attitude angles of the quadrotor aircraft. Simulation results demonstrate that compared to traditional linear active disturbances rejection control methods, the proposed control method can effectively suppress system oscillations and achieve faster response, thereby improving the stability of the quadrotor aircraft.