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Quadrotor Attitude Control Method Based on Cascade LADRC
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Zhe CHANG1, Pengyun CHEN1, Jiacheng LI1, Shangyao SHI2
Journal of Telemetry, Tracking and Command | 2024, 45(1) : 38 - 46
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Journal of Telemetry, Tracking and Command | 2024, 45(1): 38-46
• TT & C Communication and Navigation •
Quadrotor Attitude Control Method Based on Cascade LADRC
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Zhe CHANG1, Pengyun CHEN1, Jiacheng LI1, Shangyao SHI2
Affiliations
  • 1.School of Aerospace Engineering, North University of China, Taiyuan 030051, China
  • 2.School of Software, North University of China, Taiyuan 030051, China
Published: 2024-01-15 doi: 10.12347/j.ycyk.20231006001
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For the quadrotor UAV attitude adjustment process, the existence of parameter uncertainty and external environmental 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 quadrotor UAV was established, and a cascade PID dualloop 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 original 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 tracking 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 UAV  /  Linear active disturbance rejection control  /  Cascade PID control  /  Levant differentiator
Zhe CHANG, Pengyun CHEN, Jiacheng LI, Shangyao SHI. Quadrotor Attitude Control Method Based on Cascade LADRC[J]. Journal of Telemetry, Tracking and Command, 2024 , 45 (1) : 38 -46 . DOI: 10.12347/j.ycyk.20231006001
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Article Info
doi: 10.12347/j.ycyk.20231006001
  • Receive Date：2023-10-06
  • Online Date：2026-03-19
  • Published：2024-01-15
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  • Received：2023-10-06
  • Revised：2023-12-28
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Affiliations
    1.School of Aerospace Engineering, North University of China, Taiyuan 030051, China
    2.School of Software, North University of China, Taiyuan 030051, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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