Four-rotor unmanned aerial vehicle attitude control method based on improved active disturbance rejection

Abstract

The invention discloses a quadrotor unmanned aerial vehicle attitude control method based on improved active disturbance rejection, and relates to the field of unmanned aerial vehicle control. According to the four-rotor unmanned aerial vehicle attitude active-disturbance-rejection control system, a novel arcfu function is constructed, and the function is used for replacing a fal function of a nonlinear state error feedback control law (NLSEF) in a traditional active-disturbance-rejection controller, so that the problem that the error compensation capability of the NLSEF is poor when the traditional active-disturbance-rejection controller is used for dealing with sudden external disturbance is solved, and the reliability of the attitude active-disturbance-rejection control system of the four-rotor unmanned aerial vehicle is improved. Therefore, the attitude control system of the quad-rotor unmanned aerial vehicle has higher stability and stronger anti-interference capability.

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