Trajectory tracking control for a quadrotor unmanned aerial vehicle based on dynamic surface active disturbance rejection control

摘要

This paper proposes a dynamic surface active disturbance rejection control (ADRC) strategy to deal with trajectory tracking problems for a quadrotor unmanned aerial vehicle (UAV). Compared with backstepping control, the design process of the dynamic controller is more simple; the dynamic surface control introduces a first-order filter to obtain the derivative of the virtual control, the purpose is to avoid the virtual control derivation, and to simplify the control law of the whole system. The ADRC technique is mainly used to reject the disturbances and stabilize the quadrotor UAV system. Parametric uncertainties and external disturbances have been considered for the whole system, the control strategy that proposed in this paper has been simulated by MATLAB and the advantages and effectiveness of the control strategy that proposed in the paper are shown by comparing with the classical ADRC.