A Hybrid Quadrotor Unmanned Aerial Vehicle Control Strategy Using Self-Adaptive Bald Eagle Search and Fuzzy Logic

In this study, we propose an innovative inner–outer loop control framework for a quadcopter unmanned aerial vehicle (UAV) that significantly enhances the trajectory-tracking speed and accuracy while enhancing robustness against external disturbances. The inner loop employs a Linear Active Disturbance Rejection Controller (LADRC) and the outer loop a proportion integral differential (PID) controller, unified within a fuzzy control scheme. We introduce a Self-Adaptive Bald Eagle Search Optimization algorithm to optimize the initial controller settings, thereby accelerating convergence and improving parameter-tuning precision. Simulation results show that our proposed controller outperforms the conventional two-loop cascade PID configuration, as well as alternative strategies combining an outer-loop PID with a second-order inner-loop LADRC or a fuzzy-enhanced PID-LADRC approach. Moreover, the system maintains the desired position and attitude under external perturbations, underscoring its superior disturbance-rejection capability and stability.