Dynamic Landing Control of a Quadrotor on the Wave Glider

Aiming at the problems of difficult attitude stabilization, low landing accuracy, large external disturbance and slow dynamic response during quadrotor on wave glider, an improved series active rejection control method for is proposed. The controller with inner-loop angular velocity outer-loop position based (ADRC) designed by analyzing model quadrotor. A tracking differentiator (TD) adopted to track input signal, expansive state observer (ESO) used estimate total disturbance. Moreover, a nonlinear law error feedback (NLSEF) generate virtual volume system realize quadrotor, stability cascaded self-turbulent verified Lyapunov’s theory. simulation verifies that proposed can accurately better anti-interference capability faster speed. According final sea trial, combination optimized crow search algorithm (ICADRC) April Tag visual reference land efficiently successfully even under surface float uncertainty.