A Quadrotor Unmanned Aerial Vehicle Trajectory Tracking Control Method Based on Active Disturbance Rejection Control

With the rapid development of flight control technology, more and more Unmanned Aerial Vehicle(UAV) are used in universities and scientific research institutions. At present, most of the control methods of quadrotor UAV in the market are PID(Proportion-Integral-Derivative), but PID control method is often forced to compromise between the speedability and overshot and it is difficult to obtain effective differential signals, so it is difficult to obtain more ideal control performance. In this paper, the dynamics and kinematics of the quadrotor UAV are modeled, and the attitude control and position controller of the UAV are designed based on the active disturbance rejection technology, so as to realize the trajectory tracking control of the quadrotor UAV.