A Dual Closed-loop Control Scheme for Quadrotor under Disturbances

Abstract

In this paper, a double closed-loop control scheme based on active disturbance rejection control (ADRC) is proposed to enhance the anti-disturbance ability and trajectory tracking accuracy of the quadrotor unmanned aerial vehicle (UAV) system. Firstly, quadrotor’s dynamic model is established and simplified. Secondly, the corresponding active disturbance rejection controller is designed for attitude inner loop and position outer loop respectively, the extended state observer (ESO) considering the motor dynamics which makes the observation more accurate is used to estimate and compensate the internal uncertainties and external disturbances in real-time. The experimental results show that the control scheme proposed in this paper can largely ensure that the quadrotor tracks the target trajectory quickly and accurately while maintaining stability, even with intense external disturbances.