Based on Robust Sliding Mode and Linear Active Disturbance Rejection Control for Attitude of Quadrotor Load UAV

In this paper, a mass adaptive control method combining robust sliding mode control (SMC) and linear active disturbance rejection control (LADRC) is designed for the quadrotor load unmanned aerial vehicle (UAV) with mass variation. The scheme combines the advantages of SMC and LADRC. SMC can enhance the robustness of the controller, improve the anti-disturbance performance and overcome the problem of low control precision caused by bandwidth limitation of LADRC. The linear extended state observer (LESO) can estimate the external and internal disturbances of the system in real time, and then compensate the total disturbance through the PD controller. In order to simplify parameter setting, adaptive control is introduced in LADRC to adjust controller parameters in real time. In addition, adaptive law is also used to control the mass variation of the quadrotor. Then the stability of the whole system is verified by Lyapunov stability theory. Finally, the comparison with LADRC shows the superiority of the designed scheme, which can track the reference signal stably and effectively.