Quadrotor Attitude Control Method Based on Cascade LADRC
For the quadrotor UAV attitude adjustment process,the existence of parameter uncertainty and external environmen-tal interference often cause certain difficulties to the attitude control.This paper studies and proposes a quadrotor attitude control method based on cascade linear active disturbance rejection.First,the dynamic attitude model of the quad-rotor UAV was estab-lished,and a cascade PID dual-loop control architecture was proposed to decompose the attitude control task into two internal and external loops.The Levant differentiator is used to extract control parameters to enhance tracking capabilities.In addition,the origi-nal linear active disturbance rejection controller is optimized to better eliminate the impact of external random disturbances on the system.The MATLAB Simulink environment was used to simulate the proposed control method.The results show that compared with traditional method,this method can better suppress the influence of the system caused by perturbations and enhance the track-ing ability of the system to the desired signals,which significantly improves the precision and stability of the attitude adjustment of the quadcopter UAV,and improves the precision and robustness of the attitude control of the quadcopter UAV.
Quad-rotor UAVLinear active disturbance rejection controlCascade PID controlLevant differentiator
NETL
NSTL
万方数据
维普
