Research on Amphibious Multi-Rotor UAV Out-of-Water Control Based on ADRC

This paper presents a study on controlling the out-of-water motion of amphibious multi-rotor UAVs using cascade control method based Active Disturbance Rejection Control (ADRC) algorithm. The aim is to overcome challenges time-varying model parameters and complex external disturbances. research involves developing an underwater dynamic analyzing hydrodynamic forces calculate theoretical inertial simulate viscous forces. establishes relationship between exit velocity. A complete air then established, selecting center mass position vehicle enable switching from water air. To address algorithm instability caused by changes in parameters, attitude controllers are built ADRC effects compared with traditional PID sliding mode (SMC) verify effectiveness superiority proposed strategy. Experimental results show that our controller has stronger anti-interference than SMC can parameters. Our highlights importance ADRC-based for achieve robust stable control.