Design of Sliding Mode Linear Active Disturbance Rejection Quadcopter UAV Controller based on Particle Swarm Optimization

To address the nonlinear, underactuated, and strongly coupled dynamics of quadrotor UAV systems, this paper proposes a control strategy. The designed controller combines sliding mode control (SMC) with linear active disturbance rejection control (LADRC) to effectively handle significant external disturbances. The controller employs a linear extended state observer (LESO) to estimate model uncertainties and external disturbances, while SMC is utilized to address the reduction in control precision caused by the bandwidth limitations of LESO. To enhance the efficiency of parameter tuning, the particle swarm optimization (PSO) algorithm is introduced, overcoming the inefficiencies of traditional empirical methods. Simulation results demonstrate that the proposed method exhibits strong disturbance rejection and fast response in altitude and attitude control of quadrotor UAVs. Compared to standalone PID control and LADRC, this approach significantly improves the attitude control performance, stability, and robustness of the quadrotor UAV.