Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Abstract Current research on quadrotor modeling mainly focuses theoretical analysis methods and experimental methods, which have problems such as weak adaptability to the environment, high test costs, long durations. Additionally, PID controller, is currently widely used in quadrotors, requires improvement anti-interference. Therefore, aforementioned has considerable practical significance for controller design of quadrotors with strong coupling nonlinear characteristics. In present research, an aerodynamic-parameter estimation method adaptive attitude control based linear active disturbance rejection (LADRC) are designed separately. First, motion model, dynamics allocation model quad-rotor established according aerodynamic theory Newton–Euler equations. Next, a more accurate obtained by using tool called CIFER identify parameters large uncertainties frequency domain. Then, decoupling LADRC solve problem poor anti-interference ability adjust key parameter b 0 automatically change moment inertia real time. Finally, proposed approach verified semi-physical simulation platform, it increases tracking speed accuracy well anti-disturbance performance robustness system. This paper proposes effective identification sufficient ability.