Precise trajectory tracking for UAV based on active disturbance rejection control

In view of the precise trajectory tracking control problem for unmanned aerial vehicle (UAV), a control method combined nonlinear path-following guidance law with active disturbance rejection control (ADRC) is proposed in this paper. The method consists of outer trajectory control loop and inner attitude control loop. An improved nonlinear path-following guidance method is used in designing the trajectory loop to guide UAV in vertical plane and lateral plane. A linear ADRC is proposed to design the attitude loop controller. Finally, the proposed method is applied to the precise trajectory tracking control problem of UAV. Simulation results show that the controller has good control performance and strong robustness when disturbances exist during the flight.