Fuzzy automatic disturbance rejection control of quadrotor UAV based on improved whale optimization algorithm

With the aim of improving rapidity and accuracy quadrotor UAV positional trajectory tracking, this paper proposes a fuzzy automatic disturbance rejection control based on improved whale optimization algorithm (IWOA-Fuzzy-ADRC). (1) To address problems low slow convergence traditional algorithm, combination logistic chaos mapping skew tent is applied to improve diversity initial population. (2) The global search capability strengthened avoid falling into local optimum through introducing cross operator Gaussian variational operators. (3) IWOA employed iteratively optimize adjustment coefficients active controller, calculus gain nonlinear state error feedback (NLSEF), correction expansive observer (ESO). simulation results demonstrate that compared with ADRC controller PID proposed IWOA-Fuzzy-ADRC can effectively performance system, accurately track desired flight trajectory, accelerate dynamic response reduce steady-state error, enhance anti-interference capability.