Pso Optimization of Ladrc for the Stabilization of a Quad-Rotor

The quad-rotor is an under-actuated, strong coupled nonlinear system with many parameters, and the method of tuning them is very tough. For the sake of the stabilization of a quad-rotor, we propose the use of Particle Swarm Optimization (PSO) algorithm for tuning Linear Active Disturbance Rejection Control (LADRC) which is applied for the stabilization of a quad-rotor model. It is demonstrated that LADRC based on PSO algorithm has better flexibility, adaptability and robustness than that of trial and error method to determine parameters, and can improve the accuracy of the control system.