Objective:Aiming at the fact that when agricultural quadrotor collects crop leaf images in the field,the flight and hovering of the quadrotor are not stable enough due to the interference of external disturbance and internal disturbance of the fuse-lage on the attitude angle,a hybrid ADRC algorithm is proposed to control the three attitude angles of the quadrotor separately.Methods:Firstly,the attitude of the quadrotor is solved and the controller is designed,followed by the hybrid ADRC to control the three attitude angles separately,and finally simulated and compared with the PID control algorithm.Results:The simulation results show that the hybrid ADRC algorithm is significantly better than PID control in terms of both tracking speed and overshoot suppres-sion.Conclusion:The hybrid ADRC algorithm has strong adaptability and robustness in crop leaf image acquisition of agricultural quadrotor.
维普
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