The internal uncertainty and external disturbance of the quadrotor will have a significant impact on flight control. Therefore, to improve the control system’s dynamic performance and robustness, the attitude active disturbance rejection controller (ADRC) of the quadrotor is established. Simultaneously, an adaptive genetic algorithm-particle swarm optimization (AGA-PSO) is used to optimize the controller parameters to solve the problem that the controller parameters are difficult to tune. The performance of the proposed ADRC is compared with that of the sliding mode controller (SMC). The simulations revealed that the dynamic performance and robustness of the ADRC is better than that of the SMC.

中文翻译：

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四旋翼姿态主动扰动抑制控制及其参数整定

四旋翼的内部不确定性和外部干扰将对飞行控制产生重大影响。因此，为提高控制系统的动态性能和鲁棒性，建立了四旋翼姿态主动抗扰控制器（ADRC）。同时，采用自适应遗传算法-粒子群算法（AGA-PSO）对控制器参数进行优化，解决了控制器参数难以调整的问题。将拟议的ADRC的性能与滑模控制器（SMC）的性能进行了比较。仿真显示，ADRC的动态性能和鲁棒性优于SMC。