Research on Cross-media UAV Control System Based on Improved ADRC

Focusing on the critical challenges of suppressing attitude disturbances and maintaining stability of propulsion transitions during the cross-media process, this paper investigates a cross-media UAV based on a dual-layer propulsion system. To address control allocation issues during media crossing, we design a depth- and velocity-based control force distribution strategy. While using the PID algorithm to achieve position control, ADRC is used to achieve precise attitude control under strong disturbances. To resolve ADRC's sensitivity to high-frequency noise, we propose DSC-ADRC by embedding a dynamic smoothing compensator (DSC). The simulation results show that: 1) the control force allocation strategy ensures the stability of the enter and exit processes; 2) ADRC suppresses the attitude angular disturbance better than PID; and 3) DSC-ADRC produces a much smoother attitude response than the original ADRC under the random disturbance.