Multi-Rotor Attitude Control Using Cascade-LADRC with Reduced Order LESO

Attitude control is the core part of multi-rotor control systems. In recent years, attitude controllers based on the cascade-PID control have been widely used in multi-rotor flight controllers. At the same time, active disturbance rejection control (ADRC) has also been widely used since it significantly reduces the influence of disturbance. However, for a flight controller, the amount of calculations is large, and the implementation is cumbersome. To simplify the implementation of the linear ADRC (LADRC) on a flight controller and keep the cascade closed-loop structure, which makes the system robust, this paper proposes a cascade-LADRC control system based on the reduced-order linear extended state observer (LESO) for multi-rotor attitude control systems. Through simulation, the results showed that compared with the performance of conventional methods, the proposed method can effectively suppress oscillations and improve stability.