Quadrotor unmanned helicopter attitude control based on improved ADRC

A kind of attitude control method for the quadrotor unmanned helicopter based on improved active disturbance rejection control (ADRC) is proposed in this paper. The dynamic model of the quadrotor unmanned helicopter is built, and the virtual control is introduced, then the non-linear model is decomposed into height, yaw, roll and pitch of the four independent channels and the disturbance rejection control technology is applied into the various channels. The simulation results show that ADRC can achieve the attitude augmentation control of the helicopter and have a good robustness. Also the results show that the improved ADRC is superior to classical ADRC both on performance and adaptability.