Attitude Control of Oblique Cross Quad-Rotors UAV

  • Hui Ji
  • Qing LiEmail author
  • Jiarui Cui
  • Wenhao Wang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


Compared with cross quad-rotors, oblique cross quad-rotors are more flexible, stable, and suitable for expansion, so that a growing number of attentions are paid on them. However, some drawbacks such as high model dependency, poor anti-interference ability and robustness are appeared when traditional controllers are used for the attitude control of oblique cross quad-rotors, which is because of strong coupling among the various channels. These problems can be solved by designing a controller based on Linear Active Disturbance Rejection Control (LADRC) algorithm. Firstly, the unmanned aerial vehicle (UAV) modeled is established by the Newton-Euler formula. Secondly, a series of simulation including tracking, anti-interference and robustness experiments are carried out. Finally, the comparison with classic proportional-integral-derivative (PID) controller are analyzed. The results show that LADRC controller has higher performance, such as better tracking capacity, stronger anti-interference ability and robustness.


Oblique cross quad-rotors LADRC Anti-interference Robustness 


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© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijingChina

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