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 with robust sliding mode (SMC) and linear active disturbance rejection (LADRC) is designed for the quadrotor load unmanned aerial vehicle (UAV) variation. detail, firstly, variation in affects position of its centroid, taking into account changes centroid position, which makes established model more accurate. Moreover, law to eliminate influence Secondly, SMC can enhance robustness controller, improve anti-disturbance performance overcome problem low precision caused by bandwidth limitation LADRC. The extended state observer estimates external disturbances system internal unmodeled dynamics chattering real time, then, total compensated proportional–derivative controller. proposed scheme combines advantages LADRC complements each other. Thirdly, order simplify parameter setting, introduced adjust controller parameters beneficial stability analysis system. Then Lyapunov theory used prove whole Finally, simulation compared dynamic surface control. results show that has smaller overshoot faster response speed, proves superiority. also effective, it deviation, so track reference signal stably even presence disturbances.