ADRC vs LADRC for quadrotor UAV with wind disturbances

Abstract

The wind is considered a strong disturbance for quadrotor aircraft. This paper presents two types of double closed-loop control scheme based on ADRC or LADRC for quadrotor aircrafts with wind disturbances, and the comparison and analysis are discussed. Firstly, the turbulent wind field is generated according to the Dryden model and a dynamic model is established via Newton-Euler. Secondly, double closed-loop control schemes based on ADRC or LADRC for quadrotor aircraft are presented respectively. Finally, we evaluate the performance and effectiveness of these control schemes in maintaining stability and tracking the target trajectory. The results of simulation show that the model proposed in the paper accurately reflects the dynamic performance of the quadrotor under the impact of turbulent wind, and the control schemes are effective for quadrotor and they can estimate and compensate for the wind disturbances.