Observer Based Controller for a Foldable Quadrotor

This paper presents an innovative application of Active Disturbance Rejection Control (ADRC) to a foldable quadrotor with rotating arms. The study addresses challenges posed by variations in moments of inertia and changes in the center of gravity (COG), demonstrating ADRC's capability to enhance the quadrotor's stability and robustness. Internal disturbances due to parameter uncertainties and external disturbances from simulated perturbations were effectively rejected by the ADRC, ensuring stable flight and precise state tracking. Results highlight ADRC's potential to improve the performance and resilience of foldable quadrotors in dynamic environments.