改进型自抗扰四旋翼无人机控制系统设计与实现

针对提高四旋翼无人机姿态控制抗干扰能力的目标，设计了一种内外环嵌套结构的改进型自抗扰控制（ADRC）器。根据所搭建四旋翼无人机的实际参数，构建了四旋翼无人机姿态控制系统的数值仿真模型。通过与传统双闭环PID控制器进行对比，证明所设计的自抗扰控制系统在快速响应、无超调的前提下，具有很强的抗干扰能力以及较高的控制效率。将所设计的控制系统，应用于四旋翼无人机之上，在具有大偏载以及方向不确定的强干扰的飞行试验中，取得了良好的控制效果。 

Design and realization of an improved active disturbance rejection quadrotor UAV control system

In order to improve the ability of disturbance rejection of quadrotor UAV attitude control, this paper presents an improved Active Disturbance Rejection Controller (ADRC) with nested structure of inner and outer loops. The numerical simulation model of quadrotor UAV attitude control system is constructed with parameters measured from an actual prototype. By comparing to traditional double closed-loop PID controller, it is shown that the improved ADRC has very strong ability of disturbance rejection and high control efficiency, with quick response and no overshoot. The quadrotor UAV has excellent control effect during flight test with big partial load and strong disturbance from unknown directions, using the same control algorithm as in simulation.