Height control method of multi — Rotor vehicle based on auto-Disturbance-rejection control

Aiming at the non-direct measurement disturbances caused by the ground effect on the high-stability control of the aircraft at low altitude, it introduced a design of the height control system based on auto-disturbance rejection control technology in this paper. The use of auto-disturbance-rejection technology can be independent of the precise mathematical model of the aircraft system, which can be applied after determining the order of the controlled system by means of experimental determination and system identification. It provided the technical support for the application of unmanned aerial platforms in low-altitude operations by observing and feedforward compensating for the negative effects caused by turbulence disturbances on the height of the aircraft, which greatly improved the stability of the unmanned aerial vehicle's altitude control when it is flying at low altitude.