Research on control system of quadrotor based on ADRC

Abstract

In this paper, the hardware and software systems for quadrotors are discussed. Because quadrotors are susceptible to outside interference, the auto-disturbance rejection controller (ADRC) is proposed to control quadrotor. The control effect of ADRC is compared with that of cascade PID controller. Experimental results show that ADRC can realize the attitude control of quadrotor with stronger robustness.