Design of PID and ADRC based quadrotor helicopter control system


In this paper, an active disturbance rejection control (ADRC) and PID based control method is proposed to perform position and attitude control of a small unmanned quadrotor helicopter model. For the double closed-loop control system, ADRC is applied in the inner loop control, and an extended state observer (ESO) is designed to observe and compensate the… (More)


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