Quadrotor UAV Trajectory Tracking Control based on Improved ADRC Method

The rapid development in technology has spurred the widespread use of unmanned aerial vehicles (UAVs) in various fields, including military, civilian, and scientific research. In the process of an UAV performing a mission, accurate tracking of its trajectory is crucial, so studying the trajectory tracking control of quadrotors has important practical application value. In view of the characteristics of quadrotors such as nonlinearity and strong coupling, this paper designs an active disturbance rejection control (ADRC) method that combines phase compensator and improved expanded state observer (ESO). This method adds a phase compensator with filtering function behind the tracking differentiator, which solves the problem of phase lag of the output signal. And it uses the inverse hyperbolic sine function to replace the Fal function in the traditional ESO, which reduces the chattering of the system. Finally, simulation experiments verified the proposed method’s effectiveness.