An Industrial Quadrotor UAV Control Method Based on Fuzzy Adaptive Linear Active Disturbance Rejection Control

In this paper, a fuzzy adaptive linear active disturbance rejection control (Fuzzy-LADRC) is proposed for strong coupling and nonlinear quadrotor unmanned aerial vehicle (UAV). At present, UAV conveys new opportunities in the industry, such as power line inspection, petroleum conduit patrolling, defects detection wind turbine, because of its advantages flexibility, high efficiency, economy. Usually, scene mission has risk, there are internal sensor noise unknown external disturbance. Thus, attitude stability anti-interference ability especially essential. To solve problem UAV, dynamics model established via Newton-Euler method, part modeled an According to function (LADRC) parameters, Fuzzy-LADRC improve dynamic performance system. The method makes full use controller LADRC systems. As we know, first time that been used control. simulation, indicators four controllers, including Fuzzy-LADRC, LADRC, PID, Fuzzy-PID compared analyzed. results indicate average response speed 12.65% faster than it 29.25% PID. overshoot 17% less 77.75% can significantly UAV.