UAV trajectory tracking based on ADRC control algorithm

UAV flying in the air is affected by external airflow factors, and system has characteristics of underdrive, nonlinear uncertainty, which makes flight state become complicated. The trajectory tracking studied using Active disturbance rejection control (ADRC) algorithm. ADRC algorithms include differentiator, extended observer error feedback law. active decoupling track studied, introduces static matrix B to decouple virtual law U. dynamically coupled disturbances are regarded as total disturbances, observed real time ESO each main channel compensated laws. Finally, 2d realized.