关键词: 航迹跟踪, 串级控制, 线性自抗扰控制, 风扰

Abstract: The cascaded based on control system linear active disturbance rejection control (LADRC) is designed to attenuate the influence of wind disturbance on the path tracking accuracy of quadrotor unmanned aerial vehicle (UAV) under complicated environment. The outer loop of the control system adopts the 3rdorder LADRC design for position control under wind disturbance. The inner loop adopts the 4thorder LADRC design for the attitude control taking into account the dynamic characteristics of actuators. Then cascaded LADRC and the cascaded PID control schemes are compared by simulation. The results show that they are different in disturbance rejection effects although both control schemes are able to realize the position and attitude control of the quadrotor UAV. The LADRC one is more immune to disturbances, with a high acouracy, better disturbance rejection properties and high robustness and there are not so many parameters to be turned. Hence, it conforms to the actual needs of the project.

Key words: trajectory tracking, cascaded control, linear active disturbance rejection control (LADRC), wind disturbance