This paper proposes a dynamic surface active disturbance rejection control (ADRC) strategy to deal with trajectory tracking problems for a quadrotor unmanned aerial vehicle (UAV). Compared with backstepping control, the design process of the dynamic controller is more simple; the dynamic surface control introduces a first-order filter to obtain the derivative of the virtual control, the purpose is to avoid the virtual control derivation, and to simplify the control law of the whole system. The ADRC technique is mainly used to reject the disturbances and stabilize the quadrotor UAV system. Parametric uncertainties and external disturbances have been considered for the whole system, the control strategy that proposed in this paper has been simulated by MATLAB and the advantages and effectiveness of the control strategy that proposed in the paper are shown by comparing with the classical ADRC.

中文翻译：

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基于动态表面自抗扰控制的四旋翼无人机轨迹跟踪控制

本文提出了一种动态表面主动抗扰控制（ADRC）策略来处理四旋翼无人机（UAV）的轨迹跟踪问题。与反步控制相比，动态控制器的设计过程更加简单；动态曲面控制引入一阶滤波器来获取虚拟控制的导数，目的是避免虚拟控制的导数，简化整个系统的控制规律。ADRC技术主要用于抑制干扰和稳定四旋翼无人机系统。整个系统考虑了参数不确定性和外部干扰，