DLADRC Controller Parameter Tuning Based on IPSO Algorithm for Quadrotor

Abstract

ADRC controller has the advantages of simple structure, high precision and strong robustness, which can estimate and compensate the uncertainties and disturbances online. However, in practical application, it is found that the controller contains too many parameters, and the range and tuning direction of these parameters can not be determined, which makes it difficult to tune the controller parameters. Therefore, on the basis of in-depth analysis of ADRC and parameter tuning, this paper adopts DLADRC controller with fewer adjusting parameters, and proposes an improved PSO to adjust parameters. Finally, the optimized controller is analyzed under Simulink environment, and is applied to the trajectory tracking simulation of quadrotor aircraft to verify the performance of the controller. Keywords-Component; ADRC; Quadrotor Aircraft; PSO; Parameter Tuning