Fractional-Order Linear Active Disturbance Rejection Control Design and Optimization Based Improved Sparrow Search Algorithm for Quadrotor UAV with System Uncertainties and External Disturbance

This paper presents a generic robust controller that allows applications in various quadrotor unmanned aerial vehicle (UAV) systems effectively even when facing severe system uncertainties and unknown external disturbances. The fractional-order linear active disturbance rejection control (FOLADRC) scheme has combined the advantages of PID (FOPID) with (LADRC). Firstly, structure FOLADRC-based UAV is designed. Then, considering difficulty parameter tuning FOLADRC demand for accuracy rapidity controller, improved sparrow search algorithm applied. Finally, to illustrate robustness effectiveness FOLADRC, firstly compared LADRC. simulation experiment results show method can suppress influence effectively, where superiority LADRC been demonstrated clearly.