Intelligent Active Disturbance Rejection Control for Quadrotor System

This paper proposed an intelligent active disturbance rejection control (ADRC) for a quadcopter system. The main aim is to design an intelligent controller based on an artificial neural network (ANN) and active disturbance rejection control to track the desired trajectories of the attitude subsystem of the quadcopter. The ADRC technique has proved to be an excellent candidate for estimating and compensating for the total disturbances affecting the quadcopter system in real-time. The proposed intelligent ADRC takes advantage of the simplicity and efficiency of the ADRC and fewer parameter tuning effort from the ANN technique. The proposed control strategy is tested on a quadcopter drone and the simulation results show that the proposed intelligent ADRC has better performance than the conventional ADRC.