An ADRC Attitude Control Algorithm of Quadrotor for Wind Interference

The attitude control of quadrotor UAVs is the core of autonomous flight control. The control performance of the quadrotor will be degraded in the case of outdoor wind disturbance, which has a high robustness requirement for the attitude control of UAVs. PID controller will have a large fluctuation when there are unknown external disturbances and internal uncertainties. In this paper, a quadrotor attitude controller based on ADRC is designed aiming at the problem that the attitude control of quadrotor UAVs is easily disturbed by wind interference. The model of attitude model for quadrotor UAVs is analyzed and established, and the corresponding ADRC attitude control algorithm is given, including tracking differentiator (TD), extended state observer (ESO), and nonlinear state error feedback (NLSEF). In addition, parameter self-tuning is added for NLSEF. Finally, the ADRC algorithm is verified on the open-source flight control platform Pixhawk to realize the hovering flight under wind interference. From the experimental results, ADRC can get better estimation and compensation for the wind interference than PID to ensure the stability of attitude control.