Active disturbance rejection control of quadrotor attitude based on complementary sliding mode control
For the attitude control problem of quadrotor affected by modeling uncertainty and external disturb-ance,an active disturbance rejection attitude control method based on complementary sliding mode control is proposed.Based on the active disturbance rejection control theory,firstly,the dynamics model of the quadrotor is rewritten into the standard second-order integration form,and an extended state observer is designed to make online observations of the total disturbance to compensate for its influence on the system.Secondly,the generalized sliding mode is combined with the complementary sliding mode,when the sig function is adopted to replace the switching function,then the improved complementary sliding mode control law is proposed and the stability of the proposed controller is proved by the Lyapunov theory.Finally,the performance of the pro-posed control algorithm is investigated by the indexes of rise time,maximum error and mean square error through simulation cases,and simuldtion results demonstrate that the proposed method has better control quali-ty compared to the complementary sliding mode,traditional ADRC and backstepping sliding mode control.
quadrotoractive disturbance rejection control(ADRC)complementary sliding mode control(CSMC)attitude control
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