Robust trajectory tracking for quadrotor aircraft based on ADRC attitude decoupling control

An attitude decoupling algorithm based on active disturbance rejection control (ADRC) was designed for underactuated quadrotor aircraft. The algorithm can overcome some shortcomings of traditional control method for underactuated quadrotor, such as strong coupling between system states, weak anti-interference ability and high sensitivity of tracking performance to modeling errors, etc. The state coupling was tracked and estimated by extended state observer (ESO), system interference can be estimated by ESO at the same time. The interference of the system includes internal and external disturbances. The nonlinear multiple-input multiple-output (MIMO) system was transformed into linear single-input single-output (SISO) system by dynamic feedback linearization. Then using the nonlinear feedback control law to achieve high quality control of the attitude system, and study the robust trajectory tracking problem of the aircraft based on the attitude decoupling control algorithm. The simulation results show that the above attitude control algorithm can improve the robustness of the trajectory tracking system. The algorithm does not rely on the accurate system model, reduces the difficulty of practical application, and has strong anti-interference capability and practical application value as well.