Design and Implementation of Four-Rotor Controller Based on ADRC

Abstract

In order to improve the attitude control accuracy and anti-interference ability of the quadrotor, the deficiency of the traditional PID control is analyzed. The attitude of the aircraft is controlled by ADRC (Auto Disturbances Rejection Control). The control principle of ADRC is deeply analyzed. The ADRC controller is implemented by C language and simulated by Simulink. The STM32 microprocessor was used to design the corresponding peripheral circuit, and the movement data of the aircraft were obtained through MPU6050 and AK8975. The attitude of the aerocraft is calculated by the complementary filter algorithm and ADRC is applied to the attitude control of the quadrotor aerocraft. Experiments show that the use of ADRC achieves ideal results in attitude control of quadrotor aircraft.