Research On Linear Active Disturbance Rejection Control Method Of Quadrotor UAV

Compared with the previous ground operations,many positions have been replaced by robots.In the future,aerial operations may gradually be replaced by aerial robots just like ground operations.Quadrotor UAV with robotic arms will play a very important role in future aerial operations,such as aerial grasping and aerial maintenance.Since the quadrotor UAV is a robot without a fixed support point,the aerial operations of the robotic arm will cause great interference to the quadrotor UAV,which affects the flight stability and reliability of the quadrotor UAV,thereby affecting Aerial operations of robotic arms.This article has applied a control strategy with active disturbance rejection function---LADRC-Linear Active Disturbances Rejection Controller(LADRC-Linear Active Disturbances Rejection Controller).This method has the advantages of not relying on the accurate model of the controlled object,can restrain the internal and external disturbance of the system,and has good robustness.In order to verify this,first establish the dynamic model of the X-shaped quadrotor UAV;then use the classic PID and LADRC control algorithms to design the UAV’s control system,and build the corresponding simulation model in Matlab/simulink;finally quadrotor UAV flight experiment without disturbance,and flight experiment with interference.Simulation experiments show that the performance of the quadrotor UAV under LADRC control is better than that of the classic PID in many aspects:(1)First,in the disturbance-free flight experiment,the quadrotor UAV under the LADRC controller has multiple responses Performance indicators are better than PID.In terms of overshoot,the maximum overshoot of LADRC is 15% smaller than that of PID;in terms of adjustment time,LADRC is 7 seconds faster than PID;in terms of delay time,LADRC is 0.31 seconds faster than PID.It can be seen that LADRC has the advantages of small overshoot,fast stability,and small fluctuations compared to PID controllers.(2)Secondly,in the flight experiment with disturbance,compared with PID,the actual values of the x,y,and z directions of the LADRC-controlled quadrotor UAV deviate from the expected value smaller than that of the classic PID;The fluctuation is also significantly smaller than that of PID;after the disturbance disappears,the trajectory of LADRC can track the expected value faster than classical PID.In summary,on the one hand,the LADRC controller has the advantage of not relying on precise models that the PID controller has.On the other hand,the LADRC controller is faster,more stable,and robust than the classic PID.More importantly,compared to PID controllers,LADRC has stronger anti-disturbance ability,which can make the quadrotor drone’s trajectory after disturbance less deviate from the expected value,less flight fluctuations,and better tracking performance.These advantages of LADRC can greatly improve flight performance and reduce application costs,which are of great significance to future air control applications.