Quadrotor UAV Control Algorithm Based on Active Disturbance Rejection Control

The quadrotor Unmanned Aerial Vehicle (UAV) possesses various advantages, such as miniaturization, full autonomy, and a simple structure. However, its attitude control stability is challenging to ensure due to inherent characteristics, including underactuation, high coupling, nonlinearity, and susceptibility to disturbances. To address these issues, this paper conducts dynamic modeling of the quadrotor's actuators, attitude ring, and position ring, followed by controller design. A comparative study is performed between the ADRC control algorithm and the cascade PID algorithm, which is currently applied in mainstream flight control. Through rigorous simulation validation and real-world testing, the proposed approach achieves better control performance in terms of smoothness during startup, reduced overshoot, and enhanced disturbance rejection compared to the cascade PID algorithm. This optimization significantly improves the control stability of the quadrotor UAV.