Cascaded Active Disturbance Rejection Control for Quadrotor Trajectory Tracking

In this paper, a cascaded control structure for quadrotor trajectory tracking problem is investigated based on the active disturbance rejection control (ADRC). For the position controller, a third order extended state observer (ESO) is developed to estimate the disturbances, and an ADRC controller is established. Then for the attitude stabilization, a dual-loop control scheme is applied since the angular velocity can be measured. An ESO is introduced to the inner-loop angular velocity controller to enhance the robustness. Simulations indicate that the proposed method can achieve a quick and smooth tracking, while enhance the robustness. Moreover, the tracking performance and the capacity of disturbance rejection is verified via two set of experiments.